For the successful development of space projects, robotics and automation will be a key technology. Autonomous and dexterous space robots can reduce the workload of astronauts and increase operational efficiency in many missions. Figure P8.20 shows a concept called a free-flying robot [9, 13]. A major characteristic of space robots, which clearly distinguishes them from robots operated on earth, is the lack of a fixed base. Any motion of the manipulator arm will induce reaction forces and moments in the base, which disturb its position and attitude.
The control of one of the joints of the robot can be represented by the loop transfer function
(a) Sketch the Bode diagram of L(jω). (b) Determine the maximum value of L(jω), the frequency at which it occurs, and the phase at that frequency.
