Dynamic modeling, control and simulation of flexible dual-arm space robot

摘要

Flexible Multi-Arm Space Robot is a highly nonlinear and coupled dynamic system. Using the assumed mode method to describe the elastic deformation, the dynamic model of flexible dual-arm space robot is build by the Lagrange approach. The inversion dynamic control method is performed to solve the tracking problem. Then a serial of simulations of tracking control of two kinds of typical trajectory have done. Good tracking control results obtained at the simulations of the flexible dual-arm space robot.