Some Trajectory Control Schemes For Flexible Manipulators On A F'ree-Flying Space Robot

摘要

Two trajectory schemes far called rigid has been proposed. flexible are proposed by using a vir- In this paper, some trajectory schemes for the flex- tual rigid concept. A Re- ible are proposed by using the virtual rigid ma- solved Acceleration Control (RAC) fcr flexible ma- nipulator concept. A seudo Resolved Acceleration Control nipulators is presented. To suppress vibrating mo- (pseudo RAC) for flexible manipulators is presented. To tion, a composite of pseudo RAC and reduced- suppress vibrating motion a iicomposite of pseudo RAC and reduced-order modal control is developed. The order modai control is developed. The validity of the proposed schemes is explaiined through the singular perturbation method. The robust sta- bility of the pseudo RAC is proved. A sufficient condition for the asymptotic stability of the corn- posite is provided. The effectiveness of the proposed schemes is demonstrated through two case studies, i.e., one link flexible manipulator with a hardware demonstration and numerical ex- amples of a free-flying space robot with a flexible manipulator.