Chinese Space Science and Technology ›› 2023, Vol. 43 ›› Issue (2): 144-154.doi: 10.16708/j.cnki.1000-758X.2023.0029

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Optimal reaction control for the flexible base redundant manipulator system

YIN Wang,WANG Xiang,WANG Wei,LIU Dongyu   

  1. Beijing Institute of Spacecraft System Engineering,Beijing 100094,China
  • Published:2023-04-25 Online:2023-03-13

Abstract:  An optimal reaction control method was proposed for the trajectory tracking problem of the end effector of flexible base redundant manipulator systems.In the proposed algorithm,trace tracking is regarded as a high-priority task and the optimization of reaction control is implemented in the null-space of high-priority task.The self-motion of redundant manipulator can alter joint motion without affecting the motion of the end-effector,and can nullify the dominant modal force of vibrating system.Therefore,the vibration of base excited by rigid body motion is reduced greatly when the manipulator tracks specific trajectory.As a result,the stability of systems is improved.The effectiveness of the proposed algorithm is confirmed through numerical simulation with three-link manipulators and seven-DOF space manipulators with flexible base.

Key words: flexible base, redundant manipulator, self-motion utilization, optimal reaction, vibration suppression, trajectory tracking