Tip and vibration control of space robots using estimated flexible coordinates

Abstract

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This paper provides an extension to previous work on end-effector control of flexible space manipulators. Those works considered the use of a special output called the μ-tip rate for feedback control of desired end-effector trajectories with simultaneous vibration control. Implementation of this special output requires measurement of end-effector position or the use of flexible forward kinematics to determine it. For the latter, one requires measurements of the joint angles and flexible coordinates. The second of these is difficult to measure in space scenarios, so this paper looks at the use of an estimation scheme to approximate it and use it in a task-space control law. Multiple simulations are conducted to investigate the use of these approximated elastic coordinates in robustly controlling a one-link and two-link flexible manipulator with a payload mass. The error between desired and actual trajectory is calculated, and the results are juxtaposed with results from a joint-space feedback scheme. There is an emphasis on comparing the estimated elastic coordinates with the actual simulated coordinates. Using the estimated elastic coordinates to determine the end-effector location via forward kinematics, yielded similar results to when the actual elastic coordinates were used. Overall, the estimation equation used is shown to provide reasonable end-effector tracking results with the end-effector being able to track various types of trajectories.

Keywords

• flexible space manipulators
• flexible coordinate estimation
• tip control
• vibration suppression
• task-space control