Modelling, Validation and Control of DELIAN Flexible Manipulator

This paper deals with the modelling, validation and control of the ESA space manipulator DELIAN. A numerical model accounting for joints and links flexibility is developed, and structural parameters are identified through experiments on the real robot. Then, the model is validated comparing the behavior of the simulated system with the real one. Moreover, an analysis aiming to understand the contribution of each elastic element to the overall flexibility is carried out. Finally, wave-based control technique is combined to the well-known P/PI scheme in order to reduce system vibrations. Especially, a velocity-based implementation of the WBC is introduced which provides superior performance with respect to the position-based one.