Trajectory Tracking Control of Space Rigid Flexible Manipulator

摘要

The problems of trajectory tracking control of space rigid flexible manipulator are discussed in this paper. The equation of nonlinear dynamic of two-link rigid flexible manipulator is established. By using the nonlinear decoupling feedback control method based on the model, the variables of joint angle and elastic deformation are partly decoupled. By use of the inverse dynamic method of manipulator, the problems of trajectory tracking control of space rigid flexible manipulator are investigated. It is demonstrated that methods proposed are efficient by numerical simulation.