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Research on Motion Characteristics of a Space Flexible Joint Manipulator

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Proceedings of 2021 Chinese Intelligent Systems Conference

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 805))

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Abstract

Research on motion characteristics of the space flexible joint manipulator is investigated. A general dynamic model of the manipulator is established by using the Lagrange method to obtained the simplified nonlinear mathematical model of a three-arm manipulator composed of shoulder, elbow and wrist joints. The desired multi-curve path is generated by quintic interpolation polynomials. The feedback linearization technique is used to establish input-output linear state space equations. The trajectory tracking control of the three-flexible-joint manipulator is realized through the energy-optimized linear quadratic LQR and state feedback control. Motion simulations of the manipulator with different paths and joint stiffnesses are then carried out. The results show that the steady vibrations of the elbow joint, evolved from the configuration and flexibility, can be suppressed significantly by increasing the joint stiffness or damping, and reasonable trajectory planning can optimize the dynamic response of the system. It lays the foundation for designing flexible joints of the space manipulator.

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Author information

Authors and Affiliations

  1. Beijing Institute of Precision Mechatronics and Controls, Beijing, 100076, China

    Xiaolei Zhang, Guangwei Yu, Yanbo Wang, Ke Li & He Cai

  2. Laboratory of Aerospace Servo Actuation and Transmission, Beijing, 100076, China

    Xiaolei Zhang, Guangwei Yu, Yanbo Wang, Ke Li & He Cai

Authors
  1. Xiaolei Zhang
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  2. Guangwei Yu
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  3. Yanbo Wang
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  4. Ke Li
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  5. He Cai
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Editor information

Editors and Affiliations

  1. School of Automatic Science and Electrical Engineering, Beihang University, Beijing, China

    Yingmin Jia

  2. School of Automation and Electrical Engineering, University of Science and Technology, Beijing, China

    Weicun Zhang

  3. School of Mechanical Engineering and Automation, Beihang University, Beijing, China

    Yongling Fu

  4. Beijing Institute of Precision Mechatronics and Controls, Beijing, China

    Zhiyuan Yu

  5. College of Electrical Engineering and Automation, Fuzhou University, Fuzhou, Fujian, China

    Song Zheng

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© 2022 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Zhang, X., Yu, G., Wang, Y., Li, K., Cai, H. (2022). Research on Motion Characteristics of a Space Flexible Joint Manipulator. In: Jia, Y., Zhang, W., Fu, Y., Yu, Z., Zheng, S. (eds) Proceedings of 2021 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 805. Springer, Singapore. https://doi.org/10.1007/978-981-16-6320-8_38

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