Theoretical and experimental sensitivity analysis of extra insensitive input shapers applied to open loop control of flexible arm

In this paper, the motion input pre-shaping, applied to flexible manipulators for space applications, is analyzed in terms of sensitivity and robustness to parameters uncertainties. The special environment of space operations and the project specifications lead to the design of manipulators with light and flexible structures. In order to highlight the performances of these methods an open loop control technique is implemented. The control technique is verified by both numerical simulations and experiments. This paper presents the experimental set-up and the results of a series of experimental tests carried out on the space robot simulator assembly, called test-bed for microgravity simulation in robotic arm dynamics (TeMSRAD). The innovative task of the research is to determine experimentally the sensitivity curve for one-hump and two-hump extra-insensitive input shapers, for different vibration limits, by purposely introducing errors in the system model, in order to simulate typical operating conditions. Paper was presented at M2D’2006, 5th International Conference on Mechanics and Materials in Design, Porto, Portugal, 24–26 July 2006.