Abstract
Flexible space manipulator platform is a combination of rigid platform and flexible manipulator. Its complexity is mainly reflected in two aspects: one is the coupling between rigid platform and flexible manipulator; the other is the parameter uncertainty of the platform system dynamics, which is caused by the flexibility of manipulator. This paper first designs the pseudo-rate increment feedback controller with angular velocity feedback based on the coupling dynamic model, and then simulations were done to analyze the performance of the designed controller.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have