Modeling and trajectory control of free-flying robot with flexible arms

Abstract This paper is concerned with modeling and control of the free-flying robot(FFR) with flexible arms. The distributed parameter model is obtained by using the Lagrange method and the Hamilton's principle taking account of the translational momentum conservation law. The relation of a dynamical non-holonomic constraint and an elastic oscillation is investigated by using infinite dimensional systems. On the basis of the result the tracking control problem is considered and the asymptotic stability of the sensor feedback control scheme is discussed. A numerical simulation result is represented to confirm the discussion.