A macro-micro manipulator system, which is composed of a long flexible-link manipulator as a macro manipulator and a relatively smaller rigid manipulator attached to the tip of the macro one as a micro manipulator, is employed to improve the motion precision of a flexible space manipulator. At the same time the macro-micro manipulator system preserves the capabilities of large work volume, high operation speed and low energy consumption of the flexible space manipulator. In this study, using the forward/inverse kinematics and a perturbation principle, an error compensation approach is proposed to eliminate as far as possible the endpoint errors of a flexible system through the fast and fine adjustment of the motion of the micro manipulator. A feedback model-based control scheme is proposed to realize the endpoint trajectory tracking of the flexible macro-micro manipulator system. Experimental results on a planar flexible 2-DOF macro/2-DOF micro manipulator system are presented herein to show the effectiveness of the proposed methods.


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    Title :

    Trajectory control a flexible space manipulator utilizing a macro-micro architecture


    Contributors:
    Yang, T.W. (author) / Sun, Z.Q. (author) / Tso, S.K. (author) / Xu, W.L. (author)


    Publication date :

    2003


    Size :

    7 Seiten, 18 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English