Simultaneous control for end-point motion and vibration suppression of a space robot based on simple dynamic model

This paper addresses a dynamic model and a control method of a space robot with a rigid manipulator and a flexible appendage. The control method has been developed for performing multiple tasks: end-point motion control and vibration suppression control of a flexible appendage. A simple dynamic mode...

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Bibliographic Details
Main Authors: Hirano, Daichi, Fujii, Yusuke, Abiko, Satoko, Lampariello, Roberto, Nagaoka, Kenji, Yoshida, Kazuya
Format: Conference Proceeding
Language:English
Subjects:
Joints
Manipulator dynamics
Robot sensing systems
Torque
Vibrations
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Description
Summary:This paper addresses a dynamic model and a control method of a space robot with a rigid manipulator and a flexible appendage. The control method has been developed for performing multiple tasks: end-point motion control and vibration suppression control of a flexible appendage. A simple dynamic model that considers coupling between the manipulator and the flexible appendage is proposed for the control method. The tasks are performed simultaneously on the basis of their order of priorities using a redundant manipulator. Additionally, because vibration suppression requires feedback of the state of the flexible appendage, a state estimator of the appendage using a force/torque sensor is developed. Finally, the proposed model, control method, and state estimator were verified experimentally using an air-floating system.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2014.6907838