Trajectory control of flexible manipulators on a free-flying space robot

You are here: Homepage > Search

Trajectory control of flexible manipulators on a free-flying space robot

Trajectory control of flexible manipulators on a free-flying space robot

Murotsu, Y. / Tsujio, S. / Senda, K. / Hayashi, M.

A space robot consisting of a satellite main body that flies freely and manipulators that have structural flexibility is considered. The position and orientation of the satellite main body may change when the manipulators move. Motions of the space robots also induce vibrating motions of the structurally flexible manipulators. The control schemes used are the virtual rigid manipulator, pseudo-resolved acceleration control, and composite control. A singular perturbation strategy is applied, and the stability of the controls is examined. Numerical examples are given.

Access

Check availability in my library

Order at Subito €

Export, share and cite

Document information

Title :

Trajectory control of flexible manipulators on a free-flying space robot

Additional title:

Bahnregelung eines elastischen Manipulators für einen freifliegenden Raum-Industrieroboter

Contributors:

Murotsu, Y. (author) / Tsujio, S. (author) / Senda, K. (author) / Hayashi, M. (author)

Published in:

Control Systems Magazine (IEEE) ; 12 , 3 ; 51-57

Publication date :

1992

Size :

7 Seiten, 15 Quellen

DOI :

https://doi.org/10.1109/37.165517

Type of media :

Article (Journal)

Type of material :

Print

Language :

English

Keywords :

INDUSTRIEROBOTER , RAUMFAHRTTECHNIK , BAHNVERFOLGUNG , LAGEREGELUNG , MANIPULATOR , ELASTIZITAET , MECHANISCHE SCHWINGUNG , THEORETISCHES MODELL , MEHRGROESSENREGELUNG , STOERGROESSENAUFSCHALTUNG , STABILITAET VON REGELUNGSSYSTEMEN , SINGULAERE STOERUNG , SATELLIT

Similar titles

Trajectory Control of Flexible Manipulators on a Free-Flying Space Robot

Murotsu, Y. / Tsujio, S. / Senda, K. et al. | British Library Online Contents | 1992

Capture of free-flying payloads with flexible space manipulators

Komatsu, T. / Uenohara, M. / Iikura, S. et al. | NTRS | 1989

High-Precision Trajectory Tracking Control for Free-Flying Space Manipulators With Multiple Constraints and System Uncertainties

Tian, Guangtai / Li, Bin / Zhao, Qin et al. | IEEE | 2024

Control of free-flying underactuated space manipulators to equilibrium manifolds

Mukherjee, R. / Chen, Degang | Tema Archive | 1993

Control of space free-flying robot

Yoshida, K. / Umetani, Y. | Tema Archive | 1990

Access

Check availability in my library

Order at Subito €

Page navigation

Document information

Export, share and cite