Abstract
The under actuated model of a smart space manipulator with flexible links and joints is established based on the Lagrange equation and assumed model method. Afterwards, using singular perturbation method, the system is decomposed into a slow subsystem and a fast subsystem, which describe the rigid-body motion and flexible vibration, respectively. Then, a modified computed torque controller based on the under actuated model is put forward to realize trajectory tracking of joints. In the meantime, the joint flexibility is compensated real-timely by the motors while the real-time suppression of the link vibration is realized by the embedded piezoelectric actuators. Finally, the simulation results indicate that the proposed composite control strategy can realize the trajectory tracking rapidly and in the same time suppress the vibration caused by flexible joints and links efficiently.
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