Reactionless Resolved Acceleration Control with Vibration Suppression Capability for JEMRMS/SFA

被引：27

作者：

Fukazu, Yusuke ^{[1
]}

Hara, Naoyuki ^{[1
]}

Kanamiya, Yoshikazu ^{[1
]}

Sato, Daisuke ^{[1
]}

机构：

[1] Tokyo City Univ, Dept Mech Syst Engn, Setagaya Ku, Tokyo 1588557, Japan

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4 | 2009年

关键词：

Macro-mini manipulator; space robot; redundant flexible-base manipulator; vibration suppression control; reaction null space control; MANIPULATOR;

D O I：

10.1109/ROBIO.2009.4913198

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

We propose an integrated motion controller for the Japanese Experimental Module RMS/SFA "macro-mini" manipulator system on the International Space Station. This controller is based on the Reaction Null-Space concept described in previous works. The performance of this controller with a planar flexible-base manipulator has been studied in [1]. Here, we show how to implement the controller for the JEMRMS/SFA system and examine its performance via simulations. Results show that end-effector path tracking combined with reactionless motion and vibration suppression can The achieved in a stable way, by making use of the inherent kinematic/dynamic redundancies of the system.

引用

页码：1359 / 1364

页数：6

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