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.
CSI related dynamics and control issues in space robotics
1993-02-01
Conference paper
No indication
English
Space robotics : dynamics and control
TIBKAT | 1993
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