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

Volume

3

fYear

2010

fDate

13-14 March 2010

Firstpage

1047

Lastpage

1049

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICMTMA.2010.782

Filename

5460305