The main goal is to develop a general theory for the control of flexible robots, including flexible joint robots, flexible link robots, rigid bodies with flexible appendages, etc. As part of the validation, the theory is applied to the control law development for a test example which consists of a three-link arm modeled after the shoulder yaw joint of the space shuttle remote manipulator system (RMS). The performance of the closed loop control system is then compared with the performance of the existing RMS controller to demonstrate the effectiveness of the proposed approach. The theoretical foundation of this new approach to the control of flexible robots is presented and its efficacy is demonstrated through simulation results on the three-link test arm.
Passivity Based Control Methodology for Flexible Joint Robots with Application to a Simplified Shuttle RMS ARM
1991
89 pages
Report
Keine Angabe
Englisch
Robotics/Robots , Tooling, Machinery, & Tools , Computerized simulation , Control systems design , Control theory , Feedback control , Robot control , Robot dynamics , Robotics , Controllers , Dynamic models , Flexible bodies , Remote manipulator system , Rigid structures , Robot arms , Space shuttles
Passivity-based control of nonlinear flexible multibody systems
Tema Archiv | 1995
|Springer Verlag | 2019
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