Large planar maneuvers for articulated flexible manipulators

Abstract

An articulated flexible manipulator carried on a translational cart is maneuvered by an active controller to perform certain position control tasks. The nonlinear dynamics of the articulated flexible manipulator are derived and a transformation matrix is formulated to localize the nonlinearities within the inertia matrix. Then a feedback linearization scheme is introduced to linearize the dynamic equations for controller design. Through a pole placement .technique, a robust controller design is obtained by properly assigning a set of closed-loop desired eigenvalues to meet performance requirements. Numerical simulations for the articulated flexible manipulators are given to demonstrate the feasibility and effectiveness of the proposed position control algorithms.

Band-Drive Suspension Mechanism Design for Ground-Based Testing of Flexible Space Structures

“…The local coordinates Xi -)>[ are located at the left end of the flexible beam for determining the local deflection of the beam. Modal analysis technique [5,6] will be applied to discretize the beam deflection into a series of flexural modes. The flexible beam deflects during bending vibration about its deformed static equilibrium shape, which is caused by gravity.…”