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

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
出版社Institute of Electrical and Electronics Engineers Inc.
ページ6631-6637
ページ数7
ISBN(電子版)9781479936854, 9781479936854
DOI
出版ステータスPublished - 2014 9月 22
外部発表はい
イベント2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
継続期間: 2014 5月 312014 6月 7

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

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

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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