PD-Impedance Control of Docking Mechanism Composed of Intelligent Adaptive Structure

Murotsu, Yoshisada; Senda, Kei; Hisaji, Kazuhiro

doi:10.1177/1045389x9200300410

Cited by 7 publications

(1 citation statement)

References 7 publications

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“…The VGT is one of the parallel link mechanisms and is expected to have more stiffness than a serial link type mechanism consisting of links connected by rotational joints. As a result, the VGT has been examined for use as a manipulator (Murotsu et al 1991); a space crane (Sutter et al 1990) and a docking mechanism (Matsuzaki et al 1990, Murotsu et al 1993. For such utilization of VGT, the control methodology should be established.…”

Section: Introductionmentioning

confidence: 99%

Efficient formulation of inverse dynamics and control application to a planar variable geometry truss

Senda¹,

Kawano²,

Ando³

et al. 1999

Smart Mater. Struct.

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This paper addresses an efficient formulation of inverse dynamics and an application to the control of a planar variable geometry truss (VGT). The VGT is composed of many members in comparison to its degree of freedom (N), i.e., the number of generalized coordinates after constraints are considered, since the VGT has many topological closed loops. By using a Lagrangian method, an efficient order N formulation of the inverse dynamics is realized in this paper because the derived equations of motion have a recursive form. Furthermore, the derived equations contain geometric constraints due to the topological closed loops and we do not have to add calculations for those constraints. The proposed method needs fewer calculations in comparison with the Newton-Euler method with constraint equations. The effectiveness of the proposed method for inverse dynamics is examined by a numerical simulation as well as a hardware experiment of a resolved acceleration control. The experimental result successively shows that the controller using the proposed method is well implemented in the hardware system with one millisecond sampling time, and it achieves a good control performance comparable to that shown by a numerical simulation.

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Section: Introductionmentioning

confidence: 99%

Efficient formulation of inverse dynamics and control application to a planar variable geometry truss

Senda¹,

Kawano²,

Ando³

et al. 1999

Smart Mater. Struct.

Self Cite

View full text Add to dashboard Cite

show abstract

Large-scale framed structure as parallel mechanism with hyper-redundancy

Tanaka

1993

Advanced Robotics

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Control Experiments of a Docking Mechanism Composed of a Planar Variable Geometry Truss

Murotsu¹,

Senda²,

Mitsuya³

et al. 1997

Journal of Intelligent Material Systems and Structures

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This paper addresses an experimental docking system using a variable geometry truss (VGT), which is a kind of intelligent adaptive structures. 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 dynamics-based control, CTM, shows the superiority over the kinematics-based PD control. This paper proposes a resolved acceleration control (RAG), 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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PD-Impedance Control of Docking Mechanism Composed of Intelligent Adaptive Structure

Cited by 7 publications

References 7 publications

Efficient formulation of inverse dynamics and control application to a planar variable geometry truss

Efficient formulation of inverse dynamics and control application to a planar variable geometry truss

Large-scale framed structure as parallel mechanism with hyper-redundancy

Control Experiments of a Docking Mechanism Composed of a Planar Variable Geometry Truss

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