Bond Graph Modeling and Computational Control Analysis of a Rigid-Flexible Space Robot in Work Space

Abstract

The combination of a rigid and a flexible link in a space robot is an interesting field of study from modeling and control point of view. This paper presents the bond graph modeling and overwhelming trajectory control of a rigid-flexible space robot in its work space using the Jacobian based controller. The flexible link is modeled as Euler Bernoulli beam. Bond graph modeling is used to model the dynamics of the system and to devise the control strategy, by representing the dynamics of both rigid and flexible links in a unified manner. The scheme has been verified using simulation for a rigid-flexible space manipulator with two links.