Vibration Suppression Of Space Manipulator System With Flexible Joints

In the context of the development of robotics,more and more space manipulators have been put into space exploration and space station technology applications.Therefore,research on dynamic modeling and vibration suppression of space manipulator systems has become a hot topic.In this paper,the double flexible joint manipulator system with floating base is taken as the research object.Firstly,the dynamic model of the flexible joint manipulator system is derived by using the Lagrange equation and the Momentum conservation theory,and the dynamic characteristics are analyzed by MATLAB software programming.Subsequently,the trajectory planning and singular perturbation methods are used to study the vibration control of the entire manipulator system.When the trajectory planning method is used for vibration control,the base displacement value of the controlled link is described by the cycloid function,and the displacement floating value of the controlled link is used as the variable to be optimized.And then,the optimal trajectory of the flexible joint manipulator with minimum vibration is obtained by the Cauchy mutation particle swarm optimization algorithm.The effectiveness of this method is verified by numerical simulation.When the vibration control of the manipulator system is carried out by the singular perturbation method,the dynamic equation of the whole system is first decomposed into two parts: a slow-changing subsystem representing rigid motion and a fast-changing subsystem representing flexible vibration.For the slow-changing subsystem,the trajectory tracking control based on the feedback linearization technique is adopted.And for the fast-changing subsystem,the optimal control method based on the linear quadratic model is used to control the damper.Then the numerical simulation is used to verify the effectiveness of the designed composite controller.Finally,using the existing experimental hardware equipment and the operating software platform designed according to the experimental requirements,the joint stiffness identification experiment are carried out,and the trajectory planning method are used to carry out the experimental research on the vibration suppression of the flexible joint manipulator system.The experimental results show the effectiveness of the proposed vibration control method.