Flexible base vibration suppression based on improved P-PED method

The motion of space manipulator with a flexible base will generate interaction forces and torques acting at the base, which cannot be avoided. In order to improve the control performance of the manipulator and the vibration depressing effect of the flexible base, a kind of combined control law is proposed. That is, a resolved acceleration control considering base information is adopted during path tracking and an improved pseudo-passive energy dissipation (P-PED) control considering the dynamic model is switched to suppress the base vibration after tracking. Several simulation experiments are carried out for a three link manipulators with a flexible base. By comparison of a single resolved acceleration path-tracking control and the combined control in the whole simulation, experiment results show the promising results of the base vibration suppressing with the combined control, while also demonstrate the capability of the improved P-PED control.