A control scheme for the reduction of thruster-manipulator interactions in space robotic systems
نویسندگان
چکیده
Space manipulators mounted on an on-o thrustercontrolled base are envisioned to assist in the assembly and maintenance of space structures. When handling large payloads, manipulator joint and link exibility become important, for they can result in payload-attitude controller fuel-replenishing dynamic interactions. In this paper, the dynamics model of an Nexible-joint space manipulator is developed.The model of a threeexible-joint manipulator mounted on a six-degree-offreedom spacecraft is used to compare three di erent on-o thruster attitude control systems. Two variations of a classical control scheme are suggested to minimize such undesirable dynamic interactions, as well as thruster fuel consumption.
منابع مشابه
Designing a Robust Control Scheme for Robotic Systems with an Adaptive Observer
This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملTowards Reducing Thruster- Flexibility Interactions in Space Robots
Space manipulators mounted on an on-o thruster-controlled base are envisioned to assist in the assembly and maintenance of space structures. When handling large payloads, manipulator joint and link exibility become important, for they can result in payloadattitude controller fuel-replenishing dynamic interactions. In this paper, the dynamic behavior of a exible-joint manipulator on a freeying b...
متن کاملVoltage Control Strategy for Direct-drive Robots Driven by Permanent Magnet Synchronous Motors
Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of Permanent Magnet Synchronous Motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is a challenging problem. This article presents a novel tracking control of electrically driven robots wh...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1998