Motion Control of Flexible Space Robots Using Optimal Trajectory Planning and Stable Inversion

Abstract A space robot is typically controlled to move extremely slowly in order to avoid structural vibrations, to minimize interference with the spacecraft, and to reduce energy consumption, This paper investigates a new motion control strategy to achieve the fastest motion without violating these goals, First, the dynamics equation of a flexible space robot is developed using the assumed modes method, Then, the optimal motion control problem is formulated as a two-stage functional optimization problem. The inner stage is solved by a newly developed stable inversion theory. The outer stage then becomes an optimal trajectory planning problem that is further simplified into a finite dimensional optimization problem. Simulation results are finally presented.