The research addressed includes: (1) CSI issues in space robotics; (2) control of elastic payloads, which includes 1-DOF example, and 3-DOF harmonic drive arm with elastic beam; and (3) control of large space arms with elastic links, which includes testbed description, modeling, and experimental implementation of colocated PD and end-point tip position controllers.


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    Title :

    CSI Related Dynamics and Control Issues in Space Robotics


    Contributors:
    E. Schmitz (author) / M. Ramey (author)

    Publication date :

    1993


    Size :

    19 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English