Dynamics Modeling And Control Of Free-floating Flexible Dual-arm Space Robot

With human development and utilization of space resources，the research on the free-floatingflexible dual-arm space robot has attracted much attention. The flexible manipulator will produceelastic deformation and vibration which brought a lot of problems to the analysis and control of suchspace robot. In this thesis, the dynamic modeling and control of free-floating flexible dual-arm spacerobot are dealt with, and plenty of simulation tests have been conducted.Firstly, on the basis of the assumed modes method, Lagrange principle and momentumconservation, the dynamics modeling of free-floating flexible dual-arm space robot is derived, and thetrajectory tracking of end actuator and target have been performed by the computed torque method.Secondly, the optimal control methods is developed for reducing the elastic deflection and vibrationof free-floating flexible dual-arm space robot in the vibration suppression process, and somesimulation results are conducted to verify the effectiveness of the proposed methods.Finally, the fractional-order control methods is used to overcome the modeling error anddisturbance of free-floating flexible dual-arm space robot in the trajectory tracking process, and somesimulation results are conducted to verify the dynamic response performance, anti-interference abilityand robustness of the proposed methods.