Performance improvement of JEMRMS in light of vibration dynamics

Satoko Abiko, Kazuya Yoshida, Yoichiro Sato, Kaori Shoji

研究成果: Conference article査読

1 被引用数 (Scopus)

抄録

This paper discusses performance improvement for a space manipulator termed JEMRMS. Space manipulators such as JEMRMS are subject to vibrations due to structural flexibility. To cope with such a drawback, control strategies for minimization of vibration excitation and for maximization of vibration damping have already been developed. However those strategies require an accurate model of the manipulator dynamics. If a payload with unknown dynamic properties is being handled, the use of the above stated strategies will lead to vibration excitation, or to inaccurate positioning of the end point. This paper presents an adaptive control that is robust against the errors of inertia parameters. The proposed control method is verified by numerical simulations with a realistic model of JEMRMS. Simulation results illustrate the validity of the method.

本文言語English
ページ(範囲)543-548
ページ数6
ジャーナルEuropean Space Agency, (Special Publication) ESA SP
603
出版ステータスPublished - 2005 12 15
外部発表はい
イベントi- SAIRAS 2005 - The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space - Munich, Germany
継続期間: 2005 9 52005 9 8

ASJC Scopus subject areas

  • 航空宇宙工学
  • 宇宙惑星科学

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