THE DYNAMIC TRACKING CONTROL OF SPACE ROBOT FLEXIBLE MANIPULATOR

The control of flexible manipulator is an important and difficult problem in the field of robotics research at present.In this paper,using the joint inversion based technique,the effective nonlinear control method was obtained to solve the tracking problem of space flexible manipulator with big payload,and the mehod was simulated with a plane space flexible manipulator with two links as an example.The simulation result shows that the method has high reliability and good control effect.