{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T16:31:19Z","timestamp":1753893079691,"version":"3.41.2"},"reference-count":17,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2021,9,17]],"date-time":"2021-09-17T00:00:00Z","timestamp":1631836800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>Low frequency dynamics introduced by structural flexibility can result in considerable performance degradation and even instability in on-orbit, robotic manipulators. Although there is a wealth of literature that addresses this problem, the author has found that many advanced solutions are often precluded by practical considerations. On the other hand, classical, robust control methods are tractable for these systems if the design problem is properly constrained. This paper investigates a pragmatic engineering approach that evaluates the system\u2019s stability margins in the face of uncertain, flexible perturbation dynamics with frequencies that lie close to or within the bandwidth of the nominal closed-loop system. The robustness of classical control strategies is studied in the context of both collocated (joint rate) and non-collocated (force\/torque and vision-based) feedback. It is shown that robust stability and performance depend on the open-loop control bandwidth of the nominal control law (as designed for a simplified, rigid plant). Namely, the designed bandwidth must be constrained to be lower than the minimum flexible mode frequency of the unmodeled dynamics by a given factor. This strategy gives credence to popular heuristic methods commonly used to reduce the effect of unmodeled dynamics in complex manipulator systems.<\/jats:p>","DOI":"10.3389\/frobt.2021.708388","type":"journal-article","created":{"date-parts":[[2021,9,17]],"date-time":"2021-09-17T04:33:31Z","timestamp":1631853211000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Practical Design Considerations for Performance and Robustness in the Face of Uncertain Flexible Dynamics in Space Manipulators"],"prefix":"10.3389","volume":"8","author":[{"given":"Connor","family":"Holmes","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1965","published-online":{"date-parts":[[2021,9,17]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1177\/0278364907073776","article-title":"A Unified Passivity-Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots","volume":"26","author":"Albu-Sch\u00e4ffer","year":"2007","journal-title":"Int. J. Robotics Res."},{"key":"B2","doi-asserted-by":"publisher","first-page":"63","DOI":"10.1002\/rob.4620040106","article-title":"A Finite-Element Approach to Control the End-point Motion of a Single-Link Flexible Robot","volume":"4","author":"Bayo","year":"1987","journal-title":"J. Robotic Syst."},{"key":"B3","doi-asserted-by":"publisher","first-page":"49","DOI":"10.1177\/027836498900800604","article-title":"Inverse Dynamics and Kinematics of Multi- Link Elastic Robots: An Iterative Frequency Domain Approach","volume":"8","author":"Bayo","year":"1989","journal-title":"Int. J. Robotics Res."},{"key":"B4","doi-asserted-by":"publisher","first-page":"487","DOI":"10.2514\/3.56100","article-title":"Stability of Large Space Structure Control Systems Using Positivity Concepts","volume":"4","author":"Benhabib","year":"1981","journal-title":"J. Guidance Control."},{"key":"B5","doi-asserted-by":"publisher","first-page":"941","DOI":"10.1016\/0005-1098(94)00172-F","article-title":"Global Tracking Controllers for Flexible-Joint Manipulators: a Comparative Study","volume":"31","author":"Brogliato","year":"1995","journal-title":"Automatica"},{"key":"B6","doi-asserted-by":"publisher","first-page":"1526","DOI":"10.1177\/1077546311421796","article-title":"Exact Modeling for Control of Flexible Manipulators","volume":"18","author":"Castri","year":"2012","journal-title":"J. Vibration Control."},{"key":"B7","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1115\/1.482423","article-title":"Passivity and Noncollocation in the Control of Flexible Multibody Systems","volume":"122","author":"Damaren","year":"1999","journal-title":"J. Dynamic Syst. Meas. Control."},{"key":"B8","doi-asserted-by":"publisher","first-page":"799","DOI":"10.1109\/ROBOT.1998.677083","article-title":"Stable Inversion Control for Flexible Link Manipulators","volume":"1","author":"De Luca","year":"1998","journal-title":"Proc. 1998 IEEE Int. Conf. Robotics Automation (Cat. No.98CH36146)"},{"key":"B9","doi-asserted-by":"publisher","first-page":"1188","DOI":"10.1109\/ROBOT.1989.100141","article-title":"Adaptive Control of Flexible Joint Manipulators","volume":"2","author":"Ghorbel","year":"1989","journal-title":"Proc. 1989 Int. Conf. Robotics Automation"},{"key":"B10","article-title":"Advanced Textbooks in Control and Signal Processing","volume-title":"Robust Control Design with MATLAB\u00ae [electronic Resource]","author":"Gu","year":"2013"},{"key":"B11","doi-asserted-by":"crossref","DOI":"10.1201\/9781315220352","volume-title":"Robotics and Automation Handbook","author":"Kurfess","year":"2018"},{"volume-title":"International Space Station Robotics: A Comparative Study of Era, Jemrms and Mss","year":"2002","author":"Laryssa","key":"B12"},{"key":"B17","doi-asserted-by":"publisher","first-page":"1610","DOI":"10.1109\/9.262031","article-title":"Direct Strain Feedback Control of Flexible Robot Arms: New Theoretical and Experimental Results","volume":"38","author":"Luo","year":"1993","journal-title":"IEEE Trans. Automat. Contr."},{"key":"B13","doi-asserted-by":"publisher","first-page":"650","DOI":"10.1109\/TRO.2007.898990","article-title":"Port-based Modeling of a Flexible Link","volume":"23","author":"Macchelli","year":"2007","journal-title":"IEEE Trans. Robot."},{"key":"B14","doi-asserted-by":"publisher","first-page":"109","DOI":"10.1016\/j.actaastro.2011.11.012","article-title":"Vibration Control of a Flexible Space Manipulator during on Orbit Operations","volume":"73","author":"Sabatini","year":"2012","journal-title":"Acta Astronautica"},{"key":"B15","article-title":"Advanced Textbooks in Control and Signal Processing","volume-title":"Modelling and Control of Robot Manipulators","author":"Sciavicco","year":"2012"},{"volume-title":"Robot Modeling and Control","year":"2005","author":"Spong","key":"B16"}],"container-title":["Frontiers in Robotics and AI"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frobt.2021.708388\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,9,17]],"date-time":"2021-09-17T04:33:36Z","timestamp":1631853216000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frobt.2021.708388\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,17]]},"references-count":17,"alternative-id":["10.3389\/frobt.2021.708388"],"URL":"https:\/\/doi.org\/10.3389\/frobt.2021.708388","relation":{},"ISSN":["2296-9144"],"issn-type":[{"type":"electronic","value":"2296-9144"}],"subject":[],"published":{"date-parts":[[2021,9,17]]},"article-number":"708388"}}