Abstract:The question of control and stabilization of flexible space robots is considered. Although, this approach is applicable to space robots of other configurations, for definiteness, a flexible planar two-link robot, mounted on a rigid floating platform in space, is considered. The robotic arm has two revolute joints and its links undergo elastic deformation in the plane of rotation. Based on nonlinear inversion technique, a control law is derived for controlling output variables describing the position and orient… Show more
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