Fig. 1. Schematic diagram of the coupled system

Fig. 2. Rigid body movement described in the natural coordinate formulation

Fig. 3. A thin plate described in the ANCF

Fig. 4. Flowchart of system shaping

Fig. 5. Schematic diagram of a space robot transporting a large space structure

Fig. 6. Schematic diagram of the observation points and their corresponding deflections

Fig. 7. Schematic diagram of the transporting process

Fig. 8. Initial thrust and trajectory curves of a transportation taskwhen the compliant control by the robot is not considered

Fig. 9. Deflections of the observation nodes when the compliant control by the robot is not considered during transport mission

Fig. 10. Thrust and trajectory curves after ZVD shapingwhen the compliant control by the robot is considered during transport mission

Fig. 11. Deflection curves of the observation nodes after ZVD shapingwhen the compliant control by the robot is considered during transport mission

Fig. 12. Thrust and trajectory curves after MIS shaping when the compliant control by the robot is considered during transport mission

Fig. 13. Deflection curves of the observation nodes after ZVD shapingwhen the compliant control by the robot is considered during transport mission

Fig. 14. Attitude angle curves of the base during the transportation after MIS shapingwhen the compliant control by the robot is considered

Fig. 15. Schematic diagram of pose adjustment

Fig. 16. Joint angle curves of the main driving joints of the space robotic armwhen the compliant control by the robot is considered

Fig. 17. Deflections of the observation nodeswhen the compliant control by the robot is not considered during pose adjustment mission

Fig. 18. Deflection curves of the observation nodes after ZVD shapingwhen the compliant control by the robot is considered during pose adjustment mission

Fig. 19. Deflection curves of the observation nodes after MIS shapingwhen the compliant control by the robot is considered during pose adjustment mission

Fig. 20. Attitude angle curves of the base during the pose adjustment after MIS shapingwhen the compliant control by the robot is considered