Abstract
In this paper, we propose a trajectory control method for a redundant flexible space manipulator with slewing and deployable links on a space platform. This method consists manipulator tip position feedback with a transposed Jacobian matrix and local vibration control. We newly derive the Jacobian matrix for a flexible manipulator considering link deformation with the assumed modes method. Simulation results show the effectiveness of this method. We use dynamics consisting of an order N algorithm for N bodies, based on the non-recursive Lagrangian approach, to simulate the dynamics of an orbiting manipulator with an arbitrary number of slewing and deployable flexible links.
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