1 Structural Model of Robot - Manipulator for Capture 2 of No - Cooperation Client
نویسندگان
چکیده
In this work is represented conceptual model of robot-manipulator for capture and 10 holding no-cooperation client spacecraft, which has Payload Adapter interface PAS 1666 S, PAS 11 1194 C, PAS 1666 MVS, PAS 1184 VS, when there are dynamic errors of linear and angular position 12 of client spacecraft in the interval +/-50 per minute and +/-0.1 meters per minute respectively. 13
منابع مشابه
Eliminating chattering phenomenon in sliding mode control of robot manipulators in the joint space using fuzzy logic
In industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. As a result, designing a controller with a suitable function based on system model is a challenging issue. Sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....
متن کاملDynamic Modeling of a Robot Manipulator for Opening the Tap Hole of an Electric Arc Furnace
The electric arc furnace (EAF) is used to produce high quality steel from steel scraps. The EAF uses plasma arc to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal should be drained from the tap hole. Manual tapping operation of the EAF in the hot environment around the furnace is a potentially dangerous and time consuming task for the workers. Therefore, it is ess...
متن کاملDesigning Robust Finite-Time Nonlinear Torques for a n-DOF Robot Manipulator with Uncertainties, Sector and Dead-Zone Input Nonlinearities
In this paper, a complete dynamical model is presented for an uncertain -DOF robot manipulator containing description of sector and dead-zone input nonlinearities. Next, robust finite-time tracking problem of desired trajectories is declared and formulated for the aforementioned robot manipulator. By defining innovative nonlinear sliding manifolds and developing the nonsingular terminal sliding...
متن کاملAdaptive Voltage-based Control of Direct-drive Robots Driven by Permanent Magnet Synchronous Motors
Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...
متن کاملStiffness control of a legged robot equipped with a serial manipulator in stance phase
The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...
متن کامل