This paper addresses an experiment docking system using a variable geometry truss (VTG), which is a kind of intelligent adaptive structure. The experimental system is composed of a docking mechanism, a frictionless table system, a computer system, and a vision sensor system. By using the developed experimental system a PD-control and a computed torque method (CTM) are examined. The dynamic-based control, CTM, shows the superiority over the kinematics-based PD-control. This paper proposes a resolved acceleration control (RAC), i.e., a position control, with redundancy considering. The proposed control scheme can avoid a bad condition caused by the redundancy. The CTM and the RAC use the efficient formulation of inverse dynamics that was proposed for real time controls by the present authors. Feasibility and effectiveness of those methods are examined by numerical simulations and experiments.
Control experiments of a docking mechanism composed of a planar variable geometry truss
Regelungstechnische Versuche an Dockmechanismen aus planaren Fachwerken mit variabler Geometrie
1997
8 Seiten, 7 Bilder, 1 Tabelle, 12 Quellen
Aufsatz (Konferenz)
Englisch
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