Performance Improvement of JEMRMS in Light of Vibration Dynamics

This paper discusses performance improvement for a space manipulator termed JEMRMS. Space manipulators such as JEMRMS are subject to vibrations due to structural flexibility. To cope with such a drawback, control strategies for minimization of vibration excitation and for maximization of vibration damping have already been developed. However those strategies require an accurate model of the manipulator dynamics. If a payload with unknown dynamic properties is being handled, the use of the above stated strategies will lead to vibration excitation, or to inaccurate positioning of the end point. This paper presents an adaptive control that is robust against the errors of inertia parameters. The proposed control method is verified by numerical simulations with a realistic model of JEMRMS. Simulation results illustrate the validity of the method.