Abstract
The description of the equation of motion (EoM) based on the Operational Space Formulation (OSF) and the vibration suppression control method based on the description, for Japanese Experiment Module Remote Manipulator System/Small Fine Arm (JEMRMS/SFA), are proposed. The EoM has damping and spring properties in the first three joints of JEMRMS, called a macro part. Hence, the properties of the tip of the macro part should be changed by the configuration and displacement of each joint angle via OSF. This paper presents the validity of the proposed method through JEMRMS/SFA modeled dynamic simulation.
