Research on modeling and control scheme of space manipulator

The conversional methods for describing flexible bodies in the dynamics modeling of a rigid-flexible coupled space manipulator, such as finite element method, modal synthetic method and lumped parameter method, are not sufficient to describe large deformation precisely, so both Absolute Nodal Coordinate Formulation (ANCF) for describing flexible bodies and Nature Coordinate Formulation (NCF) for describing rigid bodies are utilized to establish dynamical model of two-link flexible manipulator with lumped mass, and then its space positioning is studied. Both generalized-α method and Scaling technique are utilized to develop calculating program aimed to solve dynamics equations precisely and efficiently. Considering the problem of space positioning and deformation of the flexible manipulator, a motion planning scheme is proposed and PD control scheme is adopted to achieve motion tracking. Simulation results show that the motion planning scheme is efficient to weaken the deformation of flexible manipulator.