Simultaneous Control for Position and Vibration of Space Robotic Manipulator with Lightweight Flexible Arm

This study presents a synthesis scheme on a target history for the simultaneous control of position and vibration of a space robotic manipulator with a flexible arm. As an essential problem in the manipulator with a flexible arm, its vibration is easily induced by self-motion and external disturbance. Therefore, in this study, the authors develop the long, lightweight and forceful manipulator for a planetary lander and propose the control scheme not to require additional sensors and actuators for suppression of the vibration based on a feedforward control. The induced vibration of the manipulator is confirmed through the brief experiment and the command shaping method in the proposed control scheme is described in this paper. Finally, the numerical calculation with the control for the sample object is performed.