A review on kinematic analysis and dynamic stable control of space flexible manipulators

Abstract

A review on state of the art of kinematic analysis and dynamic stable control of space flexible manipulators (SFMs) is presented. Specially, SFM as a significant assembled part of autonomous space robotics (ASRs) play an important role in precision-positioning and accurateness-controlling for space engineering application since this lightweight structure possesses a high-efficient payload-to-arm weight ratio. Further, the existing studies of kinematic analysis and dynamic stable control of SFMs are critically examined to ascertain the trends of research and to identify unsolved problems through comparing with different methods. Motivated by the current research results of the two aspects, some suggestions for future research are given concisely in our published literature: (1) a fast eliminate solution algorithm of forward kinematics is presented. (2) Two observer-based control methods are suggested after dynamic modeling of SFMs. (3) How to choose a suitable closed-loop strategy to describe system dynamic features is discussed in a comparison study of the two proposed observer-based control methods.

The Boundary Proportion Differential Control Method of Micro-Deformable Manipulator with Compensator Based on Partial Differential Equation Dynamic Model

“…Take 0 < α 1 < 1, i.e., 0 < max 2αL, 2αρL 3 /EI, 2 αI m + 2αρL 2 /k p , 2α < 1, then α can be designed as 0 2) . We define…”

“…Their application range is wider than that of rigid manipulators. Therefore, the lightweight and dexterous micro-deformable manipulator dynamic model and its precise control have gradually become a hot research topic [ 2 ].…”

Dynamic Modeling and Experimental Verification of A Cable-Driven Continuum Manipulator With Cable-Constrained Synchronous Rotating Mechanisms

“…Li et al [14] compared three designs of continuum manipulator at the mechanism level from the kinematics point of view. Aiming at on-orbit services, Walker's group [28] proposed a new long and thin continuum manipulator; Jing et al [9] presented a review on the kinematic analysis and dynamic stable control of continuum space manipulators; Huang et al [8] studied the statics of continuum space manipulators with nonconstant curvature based on a pseudorigidbody 3R model; Xu et al [31] proposed a modified modal method to solve the mission-oriented inverse kinematics of continuum space manipulators.…”

Review on Modeling and Control of Flexible Link Manipulators

“…Because of these underlying advantages, the research interest in FLMs has increased significantly in recent years. FLMs can be used in many engineering applications for performing different robotic operations such as space research (Sabatini et al, 2012;Jing et al, 2019;Comi et al, 2019), construction automation (Cao and Liu, 2020), offshore applications (wind farm, sea farm, fish farm, autonomous mooring), aerospace industry, robotic surgery (Li et al, 2015;Runciman et al, 2019), and applications that require physical interaction (Suarez et al, 2018) and human-robot collaboration.…”

“…Because of a huge number of research publications in FLMs, it is interesting to present an exhaustive review of different modeling techniques, dynamic models, control problems, control strategies, and complexities involved in FLMs that are studied by many researchers worldwide. Previously, the studies on FLMs were surveyed by Jing et al (2019), Sayahkarajy et al (2016), Alandoli et al (2016), Lochan et al (2016a), Kiang et al (2015), Hussein (2015), Rahimi and Nazemizadeh (2014), Dwivedy and Eberhard (2006), and Benosman and Le Vey (2004). Jing et al (2019) reviewed different dynamic stable control methods along with kinematic analysis of space flexible manipulators.…”