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.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

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


    Weitere Titelangaben:

    Bahnregelung eines elastischen Manipulators für einen freifliegenden Raum-Industrieroboter


    Beteiligte:
    Murotsu, Y. (Autor:in) / Tsujio, S. (Autor:in) / Senda, K. (Autor:in) / Hayashi, M. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    1992


    Format / Umfang :

    7 Seiten, 15 Quellen



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    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


    Capture of Free-Flying Payloads with Flexible Space Manipulators

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


    Trajectory control of flexible manipulators

    Luca, Alessandro | Springer Verlag | 1998