Precise trajectory control of a redundant flexible manipulator on a space platform

Authors: Komatsu T.; Modi V.J.

Source: Advanced Robotics, Volume 17, Number 8, 2003 , pp. 821-836(16)

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Abstract:

In this paper, we propose a trajectory control method for a redundant flexible space manipulator with slewing and deployable links on a space platform. This method consists manipulator tip position feedback with a transposed Jacobian matrix and local vibration control. We newly derive the Jacobian matrix for a flexible manipulator considering link deformation with the assumed modes method. Simulation results show the effectiveness of this method. We use dynamics consisting of an order N algorithm for N bodies, based on the non-recursive Lagrangian approach, to simulate the dynamics of an orbiting manipulator with an arbitrary number of slewing and deployable flexible links.

Keywords: SPACE ROBOT; FLEXIBLE ARM; SPACE STATION; DYNAMICS; VIBRATION CONTROL

Document Type: Regular paper

DOI: http://dx.doi.org/10.1163/156855303322395235

Publication date: 2003-12-01