Reaction null-space control of flexible structure mounted manipulator systems

A composite control law for end-effector path tracking with a flexible structure mounted manipulator system is proposed, such that no disturbances on the flexible base are induced. The control law is based on the reaction null space concept introduced earlier to tackle dynamic interaction problems of freefloating robots, or moving base robots in general. The control law is called composite since it ensures base vibration suppression control as well, although independently of the reactionless motion control subtask. The requirement of task independence is essential to avoid the appearance of complex dynamics expressions in the control law, such as nonlinear velocity-dependent coupling terms and dependencies of inertias on the elastic coordinates. We present experimental data from computer simulations and the experimental test bed TREP developed at Tohoku university. The experimental data is shown to agree well with theory.