Name
Title | ||
|---|---|---|
Simultaneous control for end-point motion and vibration suppression of a space robot based on simple dynamic model |
Abstract | ||
|---|---|---|
This paper addresses a dynamic model and a control method of a space robot with a rigid manipulator and a flexible appendage. The control method has been developed for performing multiple tasks: end-point motion control and vibration suppression control of a flexible appendage. A simple dynamic model that considers coupling between the manipulator and the flexible appendage is proposed for the control method. The tasks are performed simultaneously on the basis of their order of priorities using a redundant manipulator. Additionally, because vibration suppression requires feedback of the state of the flexible appendage, a state estimator of the appendage using a force/torque sensor is developed. Finally, the proposed model, control method, and state estimator were verified experimentally using an air-floating system. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ICRA.2014.6907838 | Robotics and Automation |
Keywords | Field | DocType |
aerospace robotics,feedback,force sensors,manipulator dynamics,redundant manipulators,service robots,state estimation,vibration control,air-floating system,dynamic model,end-point motion control,feedback,flexible appendage,force sensor,on-orbit servicing robot,redundant manipulator,rigid manipulator,simultaneous control,space robot,state estimator,torque sensor,vibration suppression control | Robot control,Parallel manipulator,Control theory,End point,Control engineering,Vibration,Engineering,Robot,Mobile manipulator | Conference |
ISSN | Citations | PageRank |
1050-4729 | 2 | 0.42 |
References | Authors | |
1 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hirano, D. | 1 | 5 | 2.22 |
| Fujii, Y. | 2 | 2 | 0.76 |
| Abiko Satoko | 3 | 81 | 13.94 |
| Roberto Lampariello | 4 | 79 | 9.97 |