NONLINEAR COMPENSATION CONTROL OF A MANIPULATOR TIP ON A FLEXIBLE BODY

The objective of this paper is to apply the compensation method to con trol the tip position of a rigid manipulator on a class of main flexib le uniform beams. Here, it is proposed to add a compensator at the con nection joint between the manipulator and the beam, so that the manipu lator can be rotated and also programmed to change its length during t he period of the two-dimensional system maneuvers. The non-linear open -loop compensation control law for the space manipulator presented her e is extended from the concept of linear compensation control. The exa ct compensatory correction matches both the linear and non-linear rang e of system maneuvers. The control law of the system is synthesized ba sed on linear quadratic regulator techniques, in which the inertial to rque and force generated by the compensator are considered. The signif icant results of numerical simulations show that the tip co-ordinates of the manipulator can be made to very closely follow the rigid beam m otion which is assumed a desired motion, and that the tip vibration ca n be successfully suppressed.