A Technique for Minimizing Robot-Induced Modal Excitations for On-Orbit Servicing, Assembly, and Manufacturing Structures

Robot-driven on-orbit servicing, assembly, and manufacturing (OSAM) promises to enable and enhance a wide range of space technologies in the coming decades. Supporting technologies, however, are still nascent and must still be developed to manage the unique characteristics of this upcoming construction paradigm. Robotic operation on OSAM structures will introduce modal excitations that, if not controlled, may damage or fatigue the structure. This chapter develops a method for planning robot motions such that modal excitations are minimized, thereby reducing induced loads and risk to the structure. An example is presented using a relevant exemplary OSAM structure.