关键词: 机械臂, 柔性, 复合控制, 振动抑制, 输入成型

Abstract: For the rigidbody motion control and vibration suppressing of flexible space manipulators, a control method combining feedback and feedforward schemes is presented. Firstly, for a flexible twolink manipulator, a feedback linearization controller is designed to cancel the nonlinear effects and realize the control of largescale rigidbody motion. Secondly, based on the vibration properties of closedloop responses, an inputshaping feedforward controller is designed to preshape the commands. As a result, the modal responses that have significant contributions to structural vibrations can be suppressed. Finally, simulation results demonstrate that the feedback linearization approach and the inputshapingbased method can achieve precise position control, and suppress the residual vibrations of the manipulator effectively.

Key words: manipulator, flexible, composite control, vibration suppressing, inputshaping