ADAPTIVE HYBRID SUPPRESSION CONTROL OF A WHEELED MOBILE ROBOT WITH FLEXIBLE SOLAR PANELS

Flexible members such as solar panels of robotic systems during a maneuver may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated object, which in turn produces error in the position and speed of the manipulating end-effectors, which should be prevented. In this paper, a new control algorithm for an object manipulation task by a wheeled mobile robotic system with flexible members is proposed. To this end, a new dynamics modelling approach for control implementations on compounded rigid-flexible multi-body systems is introduced. Then, based on a designed path/trajectory for a wheeled mobile robotic system, an Adaptive Hybrid Suppression Control (AHSC) is proposed to perform an object manipulation task by such complicated rigid-flexible multi-body systems. Finally, a wheeled mobile robotic system is simulated which contains two manipulators, and a rotating antenna and a camera as its third and fourth arms, appended with two solar panels as has been proposed for space explorations. Obtained results reveal the merits of the proposed AHSC algorithm which will be discussed.

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