Title :
Trajectory Tracking Control of Space Rigid Flexible Manipulator
Author :
Ge Xinsheng ; Chang Jun
Author_Institution :
Sch. of Electromech. Eng., Beijing Inf. Sci. & Technol. Univ., Beijing, China
Abstract :
The problems of trajectory tracking control of space rigid flexible manipulator are discussed in this paper. The equation of nonlinear dynamic of two-link rigid flexible manipulator is established. By using the nonlinear decoupling feedback control method based on the model, the variables of joint angle and elastic deformation are partly decoupled. By use of the inverse dynamic method of manipulator, the problems of trajectory tracking control of space rigid flexible manipulator are investigated. It is demonstrated that methods proposed are efficient by numerical simulation.
Keywords :
aerospace robotics; elastic deformation; feedback; manipulator dynamics; nonlinear control systems; nonlinear dynamical systems; position control; tracking; elastic deformation; inverse dynamic method; joint angle; nonlinear decoupling feedback control method; nonlinear dynamic; space rigid flexible manipulator; trajectory tracking control; two link rigid flexible manipulator; Automatic control; Deformable models; Extraterrestrial measurements; Feedback control; Manipulator dynamics; Mechanical variables measurement; Mechatronics; Nonlinear equations; Space technology; Trajectory; Rigid flexible coupling; Space manipulator; Trajectory tracking control;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2010 International Conference on
Conference_Location :
Changsha City
Print_ISBN :
978-1-4244-5001-5
Electronic_ISBN :
978-1-4244-5739-7
DOI :
10.1109/ICMTMA.2010.782
