The dynamic modeling and coupling effect of a space robot are complex when the flexible manipulator and solar panels are considered. This paper investigates the dynamic coupling effect and control of a flexible space robot with flexible manipulators and flexible panels. The equations of motion are derived for the robot model both of the rigid-flexible type and flexible-flexible type. The flexible space robot dynamic model is verified by comparison with the results generated by the ADAMS software, for which good agreement has been obtained. The dynamic coupling matrix of the flexible space robot is derived based on the dynamic model. The effects of the central rigid body mass and the joints angle on the dynamic coupling are analyzed. A control method is proposed to manipulate the flexible space robot based on the system dynamic model. The multiple-impulse robust (MIR) input shaper is used to suppress the vibration of flexible structures in the proposed controller. Appropriate design parameter and frequency scaling factor are selected for the MIR input shaper to suppress the flexible vibration. The flexible space robot control is conducted to illustrate the effect of the proposed controller. It is shown that the proposed control method can realize the desired joints manipulation, while suppressing the vibration of the flexible manipulators and flexible panels.

中文翻译：

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柔性空间机器人的动态耦合与控制

考虑到柔性机械手和太阳能电池板，空间机器人的动力学建模和耦合效应是复杂的。本文研究了具有柔性机械臂和柔性面板的柔性空间机器人的动态耦合效应和控制。推导了刚柔型和柔-柔型机器人模型的运动方程。通过与ADAMS软件生成的结果对比验证了柔性空间机器人动力学模型，取得了良好的一致性。基于动力学模型推导出柔性空间机器人的动力学耦合矩阵。分析了中心刚体质量和关节角度对动力耦​​合的影响。提出了一种基于系统动力学模型的柔性空间机器人操纵控制方法。多脉冲鲁棒 (MIR) 输入整形器用于抑制所提出控制器中柔性结构的振动。为MIR输入整形器选择合适的设计参数和频率比例因子来抑制柔性振动。进行柔性空间机器人控制以说明所提出控制器的效果。结果表明，所提出的控制方法可以实现所需的关节操纵，同时抑制柔性机械手和柔性面板的振动。进行柔性空间机器人控制以说明所提出控制器的效果。结果表明，所提出的控制方法可以实现所需的关节操纵，同时抑制柔性机械手和柔性面板的振动。进行柔性空间机器人控制以说明所提出控制器的效果。结果表明，所提出的控制方法可以实现所需的关节操纵，同时抑制柔性机械手和柔性面板的振动。