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

Daichi Hirano, Yusuke Fujii, Satoko Abiko, Roberto Lampariello, Kenji Nagaoka, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6631-6637
Number of pages7
DOIs
Publication statusPublished - 2014 Sep 22
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 2014 May 312014 Jun 7

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
CountryChina
CityHong Kong
Period14/5/3114/6/7

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ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Hirano, D., Fujii, Y., Abiko, S., Lampariello, R., Nagaoka, K., & Yoshida, K. (2014). Simultaneous control for end-point motion and vibration suppression of a space robot based on simple dynamic model. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 6631-6637). [6907838] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907838