Space robotic arm, such as robot manipulator systems on International Space Station (ISS), are usually operated manually by astronauts and ground operators. Such manipulator systems are subject to vibrations due to its flexibility, which cause degradation of the operation accuracy. We use Input Shaping method in order to suppress the vibration. However, when a posture of the arm changes dynamically, we need to improve the scheme of vibration suppression control. We propose the practical manual operation method without additional sensors and actuators. In proposed method, sensing the vibration during robotic arm operation, the parameters for vibration suppression are updated as required. Though a strain gauge is used for sensing the vibration, only actuator's current of each joint is practicable. In this paper, we conduct manual operation experiment, and examine the validity of the proposed manipulation method considering vibration suppression.
Experimental study on manual operation method of a multiple-DOF space robotic arm considering vibration suppression
