In recent years, dynamics model and control of space robot system are the hot topics in the research field. In this paper, a new dynamics model and control strategy of space robotic system with a flexible manipulator and a liquid fuel tank are investigated. Based on Lagrange equation method, the dynamics model of the space robotic system coupling with liquid sloshing, flexibility vibration and base movement is derived. The elastic deflection of the flexible manipulator is described by the assumed mode method and equivalent mechanical model is adopted instead of liquid sloshing under the environment of low-gravity. The inverse dynamics control algorithm combined with PD control method is performed to solve the trajectory tracking problem. Some simulation results are given to verify the effectiveness of the proposed method.
Dynamic modeling and tracking control of fuel filled space robotic system with flexible manipulators
2010-06-01
838399 byte
Conference paper
Electronic Resource
English
The dynamic control of robotic manipulators in space
NTRS | 1988
|Dynamic modeling for control of multiple flexible manipulators
Tema Archive | 1990
|Extended Task Space Control for Robotic Manipulators
NTRS | 1996
|