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.


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    Title :

    Control experiments of a docking mechanism composed of a planar variable geometry truss


    Additional title:

    Regelungstechnische Versuche an Dockmechanismen aus planaren Fachwerken mit variabler Geometrie


    Contributors:
    Murotsu, Y. (author) / Senda, K. (author) / Mitsuya, A. (author) / Kawano, H. (author) / Ando, A. (author)


    Publication date :

    1997


    Size :

    8 Seiten, 7 Bilder, 1 Tabelle, 12 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    A study on control of planar variable geometry truss used for autonomous docking system

    Murotsu, Yoshisada / Mitsuya, Akira / Kawano, Hidefumi et al. | AIAA | 1997


    On the Docking Problem of a Variable Geometry Truss Manipulator

    Tsou, P. / Shen, M.-H. H. | British Library Online Contents | 1994


    Efficient formulation of inverse dynamics of a planar variable geometry truss

    Senda, K. / Kawano, H. / Murotsu, Y. | British Library Online Contents | 1996