Recently, the remote operation research team of the main engine engineering research room of the Plasma Institute has made some progress in the analysis of dynamic characteristics and motion control research on the robot arm of lightweight flexible components.

Recently, the remote operation research team of the main engineering research room of the Plasma Institute has made some progress in the analysis of the dynamic characteristics of the robot arm of the lightweight flexible component and the research on motion control . Dr. Shi Mingming, a member of the research team, published the research results in the title "Research on Vibration Suppression and Trajectory tracking control strategy of a flexible link manipulator" in Applied Mathematical Modelling, the TOP journal of the First District of the Chinese Academy of Sciences (DOI: 10.1016/j.apm.2022.05.030).

　　The flexible robot arm composed of lightweight materials has many advantages such as energy saving, lightweight, small size, large work space, convenient transportation and low manufacturing cost. It has good application prospects in the field of fusion device maintenance. However, due to the low stiffness of the system components, elastic vibration will inevitably occur during movement or when external interference is encountered, which will reduce the control accuracy and system stability. In severe cases, it will also cause fatigue to destroy and reduce the working life. Therefore, the dynamic characteristics analysis and motion control of the lightweight flexible component robot arm have always been the research focus and difficulty of scientific researchers.

　In view of the above problems, researchers proposed a feedforward trajectory planning based on dynamics model and a hybrid control strategy based on extended state observer to address the vibration suppression and trajectory tracking of flexible robot arms with under-drive characteristics. At the same time, through floating coordinate method, modal synthesis and zero-space projection, the dynamic modeling and solution of the system in three-dimensional space is solved. The modeling method proposed in this research can be further expanded to the dynamic characteristic analysis of multi-component robotic arm systems, and the proposed control strategy can better realize elastic vibration suppression and trajectory tracking control in the presence of model uncertainty or external interference; at the same time, the method proposed in this research is easy to implement, reducing the use of sensors/energy storage devices in the system, effectively reducing economic costs, and providing a theoretical basis for the subsequent research and development of flexible maintenance robotic arm.

　The above research work was funded by the Comprehensive Research Facility for Critical Systems of Fusion Reactor Hosts (CRAFT) Project (No.: 2018-000052-73-01-001228).