Paper Info
Title
A servocompensator approach to the control of flexible space robotic manipulators with application to teleoperation
Abstract
A control concept applicable to the teleoperation of multilink, structurally flexible manipulators, based on commanded velocity of the end-effector, is presented. A velocity-tracking controller is used to effect the desired motion of the manipulator. The controller seeks to minimize the velocity tracking error at the cost of allowing the links to flex. This controller is designed by precomputing gains based on a set of dynamics equations, obtained by linearizing over a space of predetermined geometrical configurations and casting them into state-space form. Appropriate real-time controller gains are determined by interpolating between a subset of those precomputed gains, corresponding to geometrical configurations, in the neighborhood of the desired configuration. The system is augmented with a second-order integrator (for torque smoothing) and further augmented by a servocompensator whose input is the error between the actual end-effector velocity and the reference (command) velocity. Although principally motivated by teleoperation, the controller can also be used in an autonomous mode, which is the focus of this paper
Year
DOI
Venue
1993
10.1109/IROS.1993.583925
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference
Keywords
Field
DocType
aerospace control,autonomous mode,commanded velocity,dynamics equations,end-effector,error minimization,flexible space robotic manipulators,gain precomputation,geometrical configurations,interpolation,multilink manipulator control,real-time controller gains,second-order integrator,servocompensator,state-space form,teleoperation,torque smoothing,velocity-tracking controller
Teleoperation,Control theory,Torque,Control theory,Computer science,Interpolation,Integrator,Control engineering,Smoothing,Robot manipulator,Tracking error
Conference
Volume
ISBN
Citations 
3
0-7803-0823-9
1
PageRank 
References 
Authors
0.40
0
2
Name
Order
Citations
PageRank
Manfred D. M. Sever110.40
D'Eleuterio, G.M.T.28411.83