Dynamics Modeling, Control and Simulation for Flexible Dual-Arm Space Robot

摘要

As a highly nonlinear and coupled dynamic system, Flexible Multi-Arm Space Robot (FMASR) is very difficult to model and control. In this paper, the dynamics of one type of FMASR is derived, and the trajectory tracking can be performed via a stable inversion dynamic control approach. Furthermore, some numerical computation problems are investigated to avoid the stiff problem. Finally, some simulation results are given.