| Dynamic Tracking Control of Space Robot Flexible Arm |
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| 引用本文： | 丁希仑,王树国,赵春霞,蔡鹤皋. Dynamic Tracking Control of Space Robot Flexible Arm[J]. 哈尔滨工业大学学报(英文版), 1997, 0(4) |
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| 作者姓名： | 丁希仑 王树国 赵春霞 蔡鹤皋 |
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| 作者单位： | Robot Research Institute，Harbin Instituet of Technology，Harbin，150001，China |
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| 摘 要： | ＤｙｎａｍｉｃＴｒａｃｋｉｎｇＣｏｎｔｒｏｌｏｆＳｐａｃｅＲｏｂｏｔＦｌｅｘｉｂｌｅＡｒｍＤＩＮＧＸｉｌｕｎＷＡＮＧＳｈｕｇｕｏＺＨＡＯＣｈｕｎｘｉａＣＡＩＨｅｇａｏ（丁希仑）（王树国）（赵春霞）（蔡鹤皋）（ＲｏｂｏｔＲｅｓｅａｒｃｈＩｎｓｔｉｔｕｔ...
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Dynamic Tracking Control of Space Robot Flexible Arm |
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| DING Xilun WANG Shuguo ZHAO Chunxia CAI Hegao. Dynamic Tracking Control of Space Robot Flexible Arm[J]. Journal of Harbin Institute of Technology (New Series), 1997, 0(4) |
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| Authors: | DING Xilun WANG Shuguo ZHAO Chunxia CAI Hegao |
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| Abstract: | An inverse dynamic model is deve1oped through further deduction from the dynamic model of a flexible arm based upon the lagrangian formula,and a dynamic non-linear tracking control scheme,which combines an inverse dynamic method with PD control and non-linear compensator,is proposed for flexible arms.Simulation reaults show this non-linear control scheme can put the flexible arm system under effective control and realize accurate trajectory tracking. |
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| Keywords: | Flexible arm dynamics non-linear control trajectory tracking |
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