Formulation and Dynamics of Flexible Space Robots with Deployable Links.
نویسندگان
چکیده
منابع مشابه
Dynamics of Space Free-Flying Robots with Flexible Appendages
A Space Free-Flying Robot (SFFR) includes an actuated base equipped with one or more manipulators to perform on-orbit missions. Distinct from fixed-based manipulators, the spacecraft (base) of a SFFR responds to dynamic reaction forces due to manipulator motions. In order to control such a system, it is essential to consider the dynamic coupling between the manipulators and the base. Explicit d...
متن کاملDirect adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization
In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the contro...
متن کاملDynamics 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 کاملCONRO: Towards Deployable Robots with Inter-Robots Metamorphic Capabilities
Metamorphic robots are modular robots that can reconfigure their shape. Such capability is desirable in tasks such as earthquake search and rescue and battlefield surveillance and scouting, where robots must go through unexpected situations and obstacles and perform tasks that are difficult for fixed-shape robots. The capabilities of the robots are determined by the design specification of thei...
متن کاملMotion Equations Proper for Forward Dynamics of Robotic Manipulator with Flexible Links by Using Recursive Gibbs-Appell Formulation
In this article, a new systematic method for deriving the dynamic equations of motion for exible robotic manipulators is developed by using the Gibbs-Appell assumed modes method. The proposed method can be applied to the dynamic simulation and control system design of exible robotic manipulators. In the proposed method, the link de ection is described by a truncated modal expansion. All the mat...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1996
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.62.1495