Flexible Robot Trajectory Tracking Control.

Operational problems with space robots relate to several factors, one most importantly being structural flexibility and subsequently significant difficulties with position control. Elastic link vibrations with inherent nonminimum phase response coupled with large rotations create a complex nonlinear dynamic system for control. The ability of the flexible robot to follow a prescribe trajectory is an important issue. In case of more complex operation, good tracking control could potentially save much time and money. [ABSTRACT FROM AUTHOR]