There has been considerable engineering effort directed at finding ways to perform

Chapter 0, Problem P3.29

(choose chapter or problem)

There has been considerable engineering effort directed at finding ways to perform manipulative operations in spacefor example, assembling a space station and acquiring target satellites. To perform such tasks, space shuttles carry a remote manipulator system (RMS) in the cargo bay [4,12,21]. The RMS has proven its effectiveness on recent shuttle missions, but now a new design approach can be considereda manipulator with inflatable arm segments. Such a design might reduce manipulator weight by a factor of four while producing a manipulator that, prior to inflation, occupies only one-eighth as much space in the cargo bay as the present RMS. The use of an RMS for constructing a space structure in the shuttle bay is shown in Figure P3.29(a), and a model of the flexible RMS arm is shown in Figure P3.29(b), where J is the inertia of the drive motor and L is the distance to the center of gravity of the load component. Derive the state equations for this system.