Due to the human needs to energy and sustainable energy, transmission of solar energy from space to earth, using large space structures, has been considered seriously, both by researchers and industries. This energy transmission is engaged with many scientific and practical issues. Assembling of large flexible solar panels is one of the practical issues, in which many analytical and practical subjects can be addressed. Dynamics and control of this assembling process using space robots, has been studied in this thesis. It has been assumed that a set of free-floating robots is used to assemble the substructures to manufacture a new structure. Assembling process can be divided in four phases. In brief theses phases are as follows: phase 1 is the transferring phase of the structures by the free-floating robots from the storage point to the assembling point. From dynamic point of view, in this process cost effective and collision free planning is the main concern. Phase 2 is the assembling phase, in which collision is unavoided. Phase 3 is the stabilizing phase, where the assembled structure comes to a stable situation. Finally phase 4 is the transferring phase of the assembled structure to the destination point, if needed. Considering these four phases, dynamics and control of the robots together with the structures are studied in the thesis. In phase 1, the conventional trajectory planning and tracking is solved for transferring process. In phase 2, collision of multi degree bodies is studied in order to obtain the system states after the collision. Using these states and a decentralized control process, the assembled structures is stabilized and transferred to the destination point in phases 3 and 4, respectively. The centralized control approach is in fact the challenging issue in the last two phases. To reduce fluctuation of the robots and structures, CTM algorithm with added integrator is used as the robots’ controller. The analysis is accomplished with numerical simulation of the whole phases Keywords: Space Robot, Free-Floating Robot, Assembling Process, Multi Body Collision.
