VIBRATION SUPPRESSION EXPERIMENTS OF FLEXIBLE PAYLOADTRANSPORTATION BY SPACE ROBOTIC ARM WITH REDUNDANT DOF

摘要

In this paper, we consider a practical operationalrnmethod of a space robotic manipulator with redundantrndegrees of freedom (DOF), which handles a flexiblernand massive payload on a flexible structure. First, wernstudy dynamics of transporting massive flexible payloadrnon the flexible structure by the space robotic armrnin numerical analyses and preliminary experimentsrnusing a 2-dimensional microgravity experimental system.rnNext, we apply Input Shaping method to suppressrnthe residual vibration due to flexibilities, and examinernappropriate command profiles to operate the arm. InputrnShaping is adopted to velocity commands of the armrnend-effector (E.E.) for suppressing the flexible baserninduced vibration with the help of the arm DOF redundancy.rnThen we conduct several payload transportationrnexperiments in 2-dimensional microgravityrnwith simultaneous consideration of suppressing residualrnvibrations of both the flexible base and thernflexible payload. The experimental results show thatrnthe proposed vibration suppression method is muchrnefficient, and that the residual vibration can bernsuppressed less than 20%. We will report the results ofrnnumerical analyses and 2-dimensional microgravityrnexperiments in detail in the paper.