Name
Title | ||
|---|---|---|
Parameter identification and controller design for flexible joint of Chinese space manipulator |
Abstract | ||
|---|---|---|
Manipulators with flexible joints are widely used as the space manipulators, whereas the elasticity of flexible joint leads to poor dynamic performance. To solve the influence of elasticity, the paper is to establish the model of flexible joint, identify the parameters, and design the controller. The off-line methods are applied to identify the current coefficient and the parameters of flexible joint model. The controller is designed based on the theory of state feedback and pole assignment. To make the calculation of controller gains easier, more precise and more intuitive, the nominal stiffness is introduced. The simulation results and the experimental results indicate that the proposed controller can improve the dynamic performance and reduce the vibration of the manipulator compared with the traditional PD controller. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ROBIO.2014.7090321 | ROBIO |
Keywords | Field | DocType |
chinese space manipulator,manipulator dynamics,pole assignment,flexible joint model parameter identification,parameter estimation,flexible joint manipulators,control system synthesis,dynamic performance improvement,state feedback,nominal stiffness,aerospace robotics,off-line methods,elastic constants,controller design,current coefficient identification,flexible manipulators,vibration control,elasticity,controller gains,vibration reduction,friction,torque,damping | Control theory,Torque,PID controller,Control theory,Stiffness,Controller design,Manipulator,Control engineering,Vibration,Engineering,Elasticity (economics) | Conference |
Citations | PageRank | References |
0 | 0.34 | 7 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Tian Zou | 1 | 0 | 0.68 |
| Fenglei Ni | 2 | 26 | 8.22 |
| chuangqiang guo | 3 | 14 | 2.70 |
| Weisi Ma | 4 | 0 | 0.68 |
| Hong Liu | 5 | 213 | 48.37 |