Overview of Key Technology of Automatic Control for Space Flexible Manipulators
نویسندگان
چکیده
منابع مشابه
CONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY
A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...
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This paper presents an application of Continuum (i.e. Lagrangian) and Finite Element Techniques to flexible manipulator arms for derivation of the corresponding Dynamic Equations of Motion. Specifically a one-link flexible arm is considered for detailed analysis, and the results are extended for the case of a two - link flexible manipulator. Numerical examples are given for the case of both one...
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Space manipulator systems are designed to have lightweight structure and long arms in order to achieve reduction of fuel consumption and large reachable workspaces, respectively. Such systems are subject to link flexibilities. Moreover, space manipulator actuators are usually driven by harmonic gear mechanisms which lead to joint flexibility. These types of flexibility may cause vibrations both...
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In this paper, the effect of normal impact on the mathematical modeling of flexible multiple links is investigated. The response of such a system can be fully determined by two distinct solution procedures. Highly nonlinear differential equations are exploited to model the falling phase of the system prior to normal impact; and algebraic equations are used to model the normal collision of this ...
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We present some feedback control techniques recently developed for the exact solution of t rajectory tracking problems for manipulators with flexible elements. Two classes are considered: i) robots with rigid links but with elastic transmissions, in which flexibility is concentrated at the joints, and ii) robots with lightweight and/or long arms, where flexibility is distributed along the links...
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ژورنال
عنوان ژورنال: DEStech Transactions on Computer Science and Engineering
سال: 2017
ISSN: 2475-8841
DOI: 10.12783/dtcse/iccae2016/7176