Multi-link rigid/flexible robotic manipulator for research on active vibration control

将开发一种多连杆刚性/柔性机器人机械手，以支持NSERC资助的一个研究项目，使用改进的输入成形和自适应正位置反馈的柔性航天器的振动主动控制，以及其他几个研究项目。机械手系统将由肩关节、肘关节、手腕关节、可互换的刚/柔杆、各种致动器和传感器等组成。根据实验要求，可以将系统设置为合适的构型。所提出的多连杆刚柔机械臂将为动力学和控制的实验研究提供基础平台。它将在振动主动控制的实验研究中发挥重要作用，并对整个研究项目做出重大贡献。此外，该设备还可用于其他研究项目，如动态建模和分析、先进控制器设计、轨迹规划和跟踪等。

A multi-link rigid/flexible robotic manipulator will be developed to support a NSERC funded research project, active vibration control of flexible spacecraft using modified input shaping and adaptive positive position feedback, and several other research programs. The manipulator system will consist of a shoulder joint, an elbow joint, a wrist joint, interchangeable rigid/flexible links, various actuators and sensors, and so on. Depending on the experimental requirements, the system can be set to the appropriate configuration.This proposed multi-link rigid/flexible robotic manipulator will provide a fundamental platform for experimental studies on dynamics and control. It will play an important role in the experimental study on active vibration control and make significant contributions to the whole research project. Moreover, the facility can be used for other research programs such as dynamic modeling and analysis, advanced controller design, trajectory planning and tracking, and so on.