Trajectory control of a two DOF rigid-flexible space robot by a virtual space vehicle

摘要

Model based control schemes use inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For a model-based controller one is required to know the model parameters accurately. This is a very difficult job especially if the manipulator is flexible. This paper presents a control scheme for trajectory control of the tip of a two arm rigid-flexible space robot, with the help of a virtual space vehicle. The flexible link is modeled as an Euler-Bernoulli beam. The developed controller uses the inertial parameters of the base of the space robot only. Bond graph modeling is used to model the dynamics of the system and to devise the control strategy. The efficacy of the controller is shown through simulated and animation results.