Vibration suppression control of a space robot with flexible appendage based on simple dynamic model

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

研究成果: Conference contribution

13 引用 (Scopus)

抜粋

This paper discusses a vibration suppression control method for a space robot with a rigid manipulator and flexible appendage. A suitable dynamic model that considers the coupling between the manipulator and flexible appendage was developed for the controller to accomplish the vibration suppression control of the flexible appendage. The flexible appendage was modeled using a virtual joint model, and the control method was developed on the basis of this model. Although this type of control requires feedback of the flexible appendage state, its direct measurement is generally difficult. Thus, an estimator of the flexible appendage state was constructed using a force/torque sensor attached between the base and flexible appendage. The control method was experimentally verified using an air-floating system.

元の言語English
ホスト出版物のタイトルIROS 2013
ホスト出版物のサブタイトルNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
ページ789-794
ページ数6
DOI
出版物ステータスPublished - 2013 12 1
イベント2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
継続期間: 2013 11 32013 11 8

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷物)2153-0858
ISSN(電子版)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Japan
Tokyo
期間13/11/313/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • これを引用

    Hirano, D., Fujii, Y., Abiko, S., Lampariello, R., Nagaoka, K., & Yoshida, K. (2013). Vibration suppression control of a space robot with flexible appendage based on simple dynamic model. : IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 789-794). [6696441] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696441