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.


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    Titel :

    A passivity based control methodology for flexible joint robots with application to a simplified shuttle RMS arm


    Beteiligte:
    Sicard, Pierre (Autor:in) / Wen, John T. (Autor:in)

    Erscheinungsdatum :

    01.01.1991


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :




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