Analytical synthesis of gyro-force program control of a free-flying space robot in net load transportation mode

A method for analytical synthesis of spatial angular program motion of a free-flying robotized space module in net load transportation mode is presented. The paper shows that when the module performs a turn maneuver with a non-rigid load under general-form boundary conditions, week excitation of elastic vibrations of the transported structure arise owing to analytically calculated gyro-force control.