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.

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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