A Proposal for Performance Improvement of JEMRMS with Reactionless Manipulation

Abstract

This paper discusses new approaches for advanced manipulation of JEMRMS to improve its motion performance in terms of minimum oscillation of the vibrations in the Main Arm, which provides a base of the Small Fine Arm. The amplitudes of the vibrations in JEMRMS are evaluated by numerical simulations. It turns out that the vibrations significantly degrade the control accuracy and operational performance even in the nominal operations. The Main Arm's vibrations occur due to the joint flexibility and backlash, excited by the reaction of the Small Fine Arm. Different operational modes for advanced manipulation are proposed to achieve reactionless manipulation that yields zero or reduced vibrations on the Main Arm. The proposal includes the coordination of the Main and Small Fine arms and an introduction of a hyper DOF arm. The performance of each mode is compared by numerical simulations.