Fuzzy tuning control approach to perform cooperative object manipulation by a rigid-flexible multibody robot

摘要

We study cooperative object manipulation control of rigid-flexible multibody systems in space. During such tasks, flexible members like solar panels may get vibrated. Which in turn may lead to some oscillatory disturbing forces on other subsystems and consequently produce errors in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and develop capable model-based controllers for such complicated systems, deriving a dynamics model is required. However, due to practical limitations and real-time implementation, the system dynamics model should require low computations. So, first, to obtain a precise compact dynamics model, the rigid-flexible interactive dynamics modeling (RFIM) approach is briefly introduced. Using this approach, the system is virtually partitioned into two rigid and flexible portions, and a convenient model for control purposes is developed. Next, a fuzzy tuning manipulation control (FTMC) algorithm is developed for a simple conceptual model for cooperative object manipulation. In fact, a suitable setup is designed for practical implementation of this controller. After that, a wheeled mobile robot (WMR) system with flexible appendages is considered as a practical case that necessitates delicate force exertion by several end-effectors to move an object along a desired path. The WMR system contains two cooperative manipulators, appended with two flexible solar panels. To reveal the merits of the developed model-based controller, the maneuver is deliberately planned such that flexible modes of solar panels get stimulated due to arms motion. The obtained results show an effective performance of the proposed approach as will be discussed.