Flattening the Curve of Flexible Space Robotics
نویسندگان
چکیده
Infrastructure monitoring, inspection, repair, and replacement in space is crucial for continued usage safety, yet it expensive, time-consuming, technically very challenging. New robotics technologies artificial intelligence algorithms are potentially novel approaches that may alleviate such demanding operations using existing or sensing technologies. Space structures must necessarily be light weight due to the high costs of placing robots space. Several methods proposed compared control highly flexible robotics, where a key challenge presence resonant modes at frequencies so low as reside inside typical feedback controller bandwidths. Such conditions imply action sending signals ultra-light will cause structural resonance. Implementations incrementally increasing order offered, achieving an over ninety percent performance improvement trajectory tracking errors, while unshaped merely achieve twenty-four direct comparison (where only modification methodology). Based on superior performance, single-sinusoidal shaping recommended, with corollary benefit preparing future research into applying deterministic whose current instantiation relies single-sinusoidal, autonomous generation.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2022
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app12062992