Operational problems with robot manipulators in space relate to several factors, one most importantly being structural flexibility and subsequently significant difficulties with the control systems, especially, position control. A control strategy is devised for positioning the endpoint of a two-link robot manipulator modeled with assumed modes flexible dynamics repetitively tracking a square trajectory. The dominant assumed modes of vibration are determined for Euler-Bemoulli cantilever beam boundary conditions then, coupled with the nonlinear dynamics for rigid links to form an Euler-Lagrange inverse flexible dynamics robot model. A Jacobian transpose control law actuates the robot links. While repetitive tracking alone achieves no improvement in control precision, adapting the control law by a fuzzy logic system achieves consistent tracking precision.

Adaptive control, Flexible dynamics, Fuzzy logic, Robot manipulator, Tracking repetitive learning
7th IFAC Symposium on Robot Control, SYROCO 2003
Department of Mechanical and Aerospace Engineering

Green, A. (A.), & Sasiadek, J. (2003). Repetitive learning with fuzzy logic adaptive control of a flexible robot manipulator. In IFAC Proceedings Volumes (IFAC-PapersOnline) (pp. 569–574). doi:10.1016/S1474-6670(17)33455-9