A Vibration Suppression Algorithm for Space Flexible Manipulator
A flexible manipulator, vibration suppression technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the time-varying vibration modal parameters, the precise positioning control of the end of the flexible manipulator is difficult to achieve, and when operating loads change, etc.
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[0091] The present invention will be further elaborated below by describing a preferred specific embodiment in detail in conjunction with the accompanying drawings.
[0092] In addition to the inertial characteristic effect of the rigid central body, the attitude dynamic equation of the central rigid body of the flexible manipulator in orbit also includes the effect of the flexible characteristics of each flexible manipulator on the coupling part. In addition, it also includes the effect of the vibration part of the flexible manipulator on the central rigid body. Accumulate the external moment part.
[0093] Such as figure 1 As shown, a space flexible manipulator vibration suppression algorithm is used in the rigid-flexible coupling manipulator system. The rigid-flexible coupling manipulator system includes a central body, a first flexible manipulator, and a second flexible manipulator connected in sequence and a rigid manipulator, the space flexible manipulator vibration sup...
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