Dynamic modeling, control and simulation of flexible dual-arm space robot

Wu, Licheng; Sun, Fuchun; Sun, Zengqi; Su, Wenjing

doi:10.1109/tencon.2002.1182560

Cited by 11 publications

(3 citation statements)

References 4 publications

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“…However, due to the limitations of the Bezier function, the trajectory function cannot achieve optimal results. Wu et al [9] used the method of inserting interpolation points to describe the trajectory of spatial dual flexible manipulators, but there is no clear range for the insertion position of the interpolation points, which can easily lead to local interpolation point redundancy. In addition, the algorithm efficiency is relatively reduced.…”

Section: Introductionmentioning

confidence: 99%

Trajectory planning of vibration suppression for hybrid structure flexible manipulator based on differential evolution particle swarm optimization algorithm

Fan,

2024

J. Phys.: Conf. Ser.

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A differential evolution particle swarm optimization algorithm is proposed to address the vibration problem of a hybrid structure flexible manipulator after motion and stop. Firstly, the errors in the modeling process of the flexible manipulator were corrected, and its state variables were decomposed to establish dynamic and kinematic models. A sliding mode controller was then designed to track the trajectory. To find the optimal trajectory, a mapping function was constructed, and non-uniform interpolation points were selected. A normal distribution function was used to select discrete interpolation points, and the cubic spline interpolation was used to fit the trajectory. To prevent the particle swarm optimization algorithm from falling into local optima, the mutation and crossover operators of the differential evolution algorithm are incorporated into the algorithm, thereby expanding the search range. The effectiveness of this improved method was verified by comparing it with traditional particle swarm optimization algorithms. This study provides a new trajectory planning approach for the motion control of a hybrid structured flexible manipulator and has important practical significance.

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Section: Introductionmentioning

confidence: 99%

Trajectory planning of vibration suppression for hybrid structure flexible manipulator based on differential evolution particle swarm optimization algorithm

Fan,

2024

J. Phys.: Conf. Ser.

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“…The decoupled control equations for joint angles and elastic parts are obtained with the model-based nonlinear decoupling feedback control method. In [9], a tracking controller of a flexible dual-arm space robot has been proposed by inversion dynamic approach. In [10], the effect of payload collision on the dynamics and control when capturing an object has been proposed.…”

Section: Introductionmentioning

confidence: 99%

Dynamics and tracking control for a free-flying space robot with rigid-flexible links

Yang

2014

2014 IEEE International Conference on Information and Automation (ICIA)

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In this paper, both the dynamics and tracking control for a free-flying space robot with rigid-flexible links are developed. The dynamic model of the system is described with assumed mode approach and Lagrangian method. Based on singular perturbation approach, a composite control scheme of sliding mode control and active vibration control is derived to track the desired trajectory and to overcome the bounded disturbances. With the proposed control scheme, the closed-loop stability of the flexible space robot can be achieved. Numerical simulation results show the proposed control works well.

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“…The validity of the proposed control schemes has been explained through the singular perturbation method. Licheng, Fuchun, Zengqi, and Wenjing (2002) worked on dynamic modeling, control and simulation of flexible dual arm space robot based on the Lagrange method and described the elastic deflection by the assumed mode method. The inversion dynamic control method is performed to solve the tracking problem.…”

Section: Introductionmentioning

confidence: 99%

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

Kumar

Pathak

Sukavanam

2011

International Journal of Intelligent Mechatronics and Robotics

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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.

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Dynamic modeling, control and simulation of flexible dual-arm space robot

Cited by 11 publications

References 4 publications

Trajectory planning of vibration suppression for hybrid structure flexible manipulator based on differential evolution particle swarm optimization algorithm

Trajectory planning of vibration suppression for hybrid structure flexible manipulator based on differential evolution particle swarm optimization algorithm

Dynamics and tracking control for a free-flying space robot with rigid-flexible links

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

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