Modeling and control strategy of a 3-D flexible space robot - Robotics Institute Carnegie Mellon University

Modeling and control strategy of a 3-D flexible space robot

Hiroshi Ueno, Yangsheng Xu, and Tetsuji Yoshida
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 978 - 983, November, 1991

Abstract

Problems of modeling and controlling the 3D motion of a flexible space robot is discussed. By concentrating the mass at the joint and neglecting the link mass, the model of the flexible robot is derived based on Lagrange dynamics and rigid and flexible coordinates transformation. For further frequency analysis, the obtained linear model is modified so that state variables of the model are independent. The model has been verified by simulation results and experiments using the laboratory robot. The resultant model is simple and easy to be executed efficiently in the real-time control. Control problems are then discussed based on the derived model. A control scheme for adaptation to variations of dynamics due to configuration changes is presented and has been implemented in a space flexible robot.

BibTeX

@conference{Ueno-1991-15834,
author = {Hiroshi Ueno and Yangsheng Xu and Tetsuji Yoshida},
title = {Modeling and control strategy of a 3-D flexible space robot},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1991},
month = {November},
volume = {2},
pages = {978 - 983},
}
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