Control of a planar space robot: Theory and experiments

Narikiyo, Tatsuo; Ohmiya, Masaki

doi:10.1016/j.conengprac.2005.05.001

Cited by 8 publications

(16 citation statements)

References 14 publications

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“…The third one is reversal action. This effect can be observed in a rotating flexible beam [36]. When a torque is applied to the beam in one direction, its tip position initially moves in the opposite direction.…”

Section: Controller Designmentioning

confidence: 93%

Cooperative Object Manipulation by a Space Robot with Flexible Appendages

Zarafshan

Moosavian

2013

ISRN Aerospace Engineering

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Modelling and control of rigid-flexible multibody systems is studied in this paper. As a specified application, a space robotic system with flexible appendages during a cooperative object manipulation task is considered. This robotic system necessitates delicate force exertion by several end-effectors to move an object along a desired path. During such maneuvers, flexible appendages like solar panels may get stimulated and vibrate. This vibrating motion will cause some oscillatory disturbing forces on the spacecraft, which in turn produces error in the motion of the end-effectors of the cooperative manipulating arms. In addition, vibration control of these flexible members to protect them from fracture is another challenging problem in an object manipulation task for the stated systems. Therefore, the multiple impedance control algorithm is extended to perform an object manipulation task by such complicated rigid-flexible multibody systems. This extension in the control algorithm considers the modification term which compensates the disturbing forces due to vibrating motion of flexible appendages. Finally, a space free-flying robotic system which contains two 2-DOF planar cooperative manipulators, appended with two highly flexible solar panels, is simulated. Obtained results reveal the merits of the developed model-based controller which will be discussed.

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Section: Controller Designmentioning

confidence: 93%

Cooperative Object Manipulation by a Space Robot with Flexible Appendages

Zarafshan

Moosavian

2013

ISRN Aerospace Engineering

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“…Applying the concept of the geometric phase to this Caplygin form, we can obtain the desired trajectories of the arm motions. The desired trajectories are synthesized as follows [5]: Caplygin form (6) can be converted into…”

Section: Controller Design For the Rigid Space Robotmentioning

confidence: 99%

“…Especially in '90s, many research articles about the attitude control of space robots have been published [1]- [5]. However in these studies both theoretical and experimental considerations about stabilization of the planar space robot with flexible arms have not been sufficiently developed.…”

Section: Introductionmentioning

confidence: 99%

“…Since equations of motion of the planar space robot can be converted into a Caplygin form, the concept of the geometric phase of the Caplygin system plays an important role for the controller synthesis [5]. The geometric phase means that the net change in angle of the attitude of the base satellite relates with the area of closed contour traced by robot arms mounted on the base.…”

Section: Introductionmentioning

confidence: 99%

“…The proposed control scheme is based on the geometric phase approach [5] and the adaptive control scheme [7]. The adaptive control compensates the system uncertainties and difficulties arising from obtaining data for flexible dynamic co-ordinates.…”

Section: Introductionmentioning

confidence: 99%

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Attitude Control of a Flexible Planar Space Robot

Narikiyo

Sakata

Kawanishi

2008

SICE Journal of Control, Measurement, and System Integration

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: A rigid planar space robot is represented as a Caplygin system and its base attitude can be stabilized by means of geometric phase. However, in cases when flexible arms are used for control of the base attitude, inherent resonance modes are excited and instability is resulted. In this study, we propose to synthesize a stabilizing controller as adaptive tracking control system combined with sliding mode control to track to the arm trajectories derived from the geometric phase of the Caplygin system. Usefulness of the proposed controller is demonstrated by numerical simulations and Laboratory experiments.

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