空间柔性机械臂目标捕获后镇定控制策略设计

In order to solve the position and pose shift of the base, the lateral and longitudinal vibration of flexible links caused by contact-impact between the end of effector and the target in the task of target-capture,a method of stabilization control for flexible space manipulator considering the multi-dimensional flexibility is proposed in this paper. Firstly, the kinematics and dynamics model of combination for space flexible manipulator and target is built by assumed mode method and D-H parameter method; Secondly, the dynamic equations are decoupled by singular perturbation method, then the method of combination stabilization control is designed with the goal of stabilizing the base and abating vibration of flexible links; Finally, the effectiveness of the proposed method is verified by simulation. The result shows that the proposed method can effectively adjust the position and pose shift of the basStabilization Control of Flexible Space Manipulator after Target-capturee, as well as the lateral and longitudinal vibration of flexible links to achieve the stabilization of the combination system.