The article discusses dynamic requirements for designing ground manipulator platforms that can be utilized to verify the performance of controllers developed for space manipulators. Dimensional analysis is used to formalize the dynamic equivalence conditions and control scaling laws between a given space manipulator and the ground manipulator to be designed, such that the space manipulator and the designed ground manipulator are dynamically equivalent. Given that, unlike its space counterpart, the ground manipulator may not have the complete six degrees of freedom for its base and it must function under the gravity effects, as well as manufacturing imprecisions in building the ground manipulator, the sensitivity of dynamic equivalence conditions to the abovementioned factors is analyzed. Furthermore, an error compensation scheme based on the feedback linearization technique is developed to make the closed-loop ground manipulator have similar joint movements to those of the space manipulator under its controller. As a result, ground-based verification experiments can be performed for the controllers that will operate on the space manipulator. The design of a ground manipulator with the error compensation scheme for a specific space manipulator is illustrated through simulations, and it is shown how the performance of a PID controller for the space manipulator can be verified using the designed ground manipulator.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Control Verifications of Space Manipulators Using Ground Platforms


    Beteiligte:
    Zong, Lijun (Autor:in) / Emami, M. Reza (Autor:in)


    Erscheinungsdatum :

    01.02.2021


    Format / Umfang :

    4025044 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Modelisation et verifications comportementales. Behavioural modelling and verifications

    Cicchetti, R. / Poncelet, P. / Teisseire, M. et al. | British Library Conference Proceedings | 1997


    Hard and Soft Verifications

    Wetherholt, Jon / Anderson, Brenda | NTRS | 2012


    Hard and Soft Safety Verifications

    J. Wetherholt / B. Anderson | NTIS | 2012


    Hard and Soft Safety Verifications

    Wetherholt, Jon / Anderson, Brenda | NTRS | 2012


    Motion planning and control of robotic manipulators on seaborne platforms

    From, Paal J. / Gravdahl, Jan T. / Lillehagen, Tommy et al. | Tema Archiv | 2011