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Reduced Model Based Control of Two Link Flexible Space Robot

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Author(s): Amit Kumar | Pushparaj Mani Pathak | Nagarajan Sukavanam

Journal: Intelligent Control and Automation
ISSN 2153-0653

Volume: 02;
Issue: 02;
Start page: 112;
Date: 2011;
Original page

Keywords: Flexible Space Robots | Bond Graph Modeling | Reduced Model Based Controller | Euler-Bernoulli Beam

ABSTRACT
Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters accurately. This is a very difficult task especially if the manipulator is flexible. So a reduced model based controller has been developed, which requires only the information of space robot base velocity and link parameters. The flexible link is modeled as Euler Bernoulli beam. To simplify the analysis we have considered Jacobian of rigid manipulator. Bond graph modeling is used to model the dynamics of the system and to devise the control strategy. The scheme has been verified using simulation for two links flexible space manipulator.
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