Flexible Hydraulic Actuator for Space Manipulators
نویسندگان
چکیده
منابع مشابه
Dynamics of Flexible Manipulators
This paper presents an application of Continuum (i.e. Lagrangian) and Finite Element Techniques to flexible manipulator arms for derivation of the corresponding Dynamic Equations of Motion. Specifically a one-link flexible arm is considered for detailed analysis, and the results are extended for the case of a two - link flexible manipulator. Numerical examples are given for the case of both one...
متن کاملMethods of Trajectory Tracking for Flexible Joint Space Manipulators
This paper presents a comparative study of four control strategies for a flexible joint space manipulator. The considered control strategies consist in the classical Slotine and Li algorithm, a simple proportional derivative controller, a singular perturbation-based controller and a nonlinear backstepping controller. All control methodologies are assessed in numerical simulations for endpoint p...
متن کاملAdaptive actuator failure compensation for redundant manipulators
This paper presentsan adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures for redundant manipulator systems. The method is first developed for manipulators whose joints are concurrently actuated. While physical realization of concurrently actuated manipulators and the advantages of their use have been understood before, in this pap...
متن کاملOn the dynamics and control of flexible joint space manipulators
Space manipulator systems are designed to have lightweight structure and long arms in order to achieve reduction of fuel consumption and large reachable workspaces, respectively. Such systems are subject to link flexibilities. Moreover, space manipulator actuators are usually driven by harmonic gear mechanisms which lead to joint flexibility. These types of flexibility may cause vibrations both...
متن کاملImpact dynamics of space manipulators mounted on a flexible structure
The problem of impact dynamics of space robotic systems that consist of a rigid manipulator supported by a flexible deployable structure is addressed. Due to joint back-drivability and the dynamic coupling between the manipulator and its supporting structure, unknown motion of the system occurs after it makes impulsive contact with the environment. A method that uses the system's dynamic model ...
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ژورنال
عنوان ژورنال: JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
سال: 1994
ISSN: 1340-8062
DOI: 10.1299/jsmec1993.37.179