论文信息 - Vibration Control of Flexible Arm for Robot Experiment on JEM

Vibration Control of Flexible Arm for Robot Experiment on JEM

In this paper, the dynamics and control of a novel mobile robot on the International Space Station (ISS) are discussed. The Japan Aerospace Exploration Agency (JAXA) is developing a robotic system which has an extendable arm and several tethers to support Extravehicular Activity (EVA) performed by astronauts. The robotic arm is build from a light material and can be extended longer. The vibration due to flexibility of the robot’s long light arm makes its operation inefficient. The dynamic model of the robot and its control strategy are investigated in order to suppress these vibrations. The efficiency of the control is verified with numerical simulation.

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