Abstract
The use of harmonic drive gear boxes in space robotic applications offer several attractive properties, such as high reduction ratio, compact size, low mass, and coaxial assembly. However, the flexibility effects of this type of gear mechanism in the joints of robotic manipulators are significant enough to make real-time control challenging. This paper addresses the problem of fuzzy adaptive trajectory control of space manipulators that exhibit elastic vibrations in their joints and that are subject to parametric uncertainties and dynamics modeling errors. The developed control scheme uses a fuzzy adaptation mechanism that varies in real-time the gains of a slow control term designed to stabilize the rigid dynamics, and a linear correction term to further reduce the elastic vibrations at the joints. The proposed controller is validated in numerical simulations in a trajectory tracking scenario by a flexible-joint manipulator. Simulation results suggest that the controller is robust to uncertainties in joint stiffness coefficients and to modeling errors, and yields improved tracking performance compared with conventional flexible-joint control strategies.
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