Dynamics, Control and Simulation of Elastic Space Manipulators.
Raphael de Almeida da Fonseca (1), and Rodolpho Vilhena de Moraes (1), and Schäfer, B. and Schlenger, M. (1994) Dynamics, Control and Simulation of Elastic Space Manipulators. In: Proc. 2nd Brazilian Symp. on Aerospace Technology (1994). 2dn Brazilian Symposium on Aerospace Technology, Sao Jose dos Campos, SP, Brazil, 17-21 Oct. 1994.
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Thre most important subjects of this paper are:the analysis of the dynamics of vibration of space manipulators; the design of new con- trol laws for the actuators and the simulation of flight behaviour for ground-based teleoperation. From the control point of view it is very important to know the lowest free vibration eigenfrequencies depending on various parameters like link and end-body masses, centre of gravity position, moment of inertia, decentred joint masses(motors inside links) and relative angle between upper and lower arms (links). Simplified models with exact solutions and more complexmodels with approximated solutions are discussed and compared.The analytical frequency estimations can be computed very quickly and areimplemented in adaptive control algorithms for compensating changes in the free vibration frequencies during the movement or with payloadchange. The emphasis is given for analytical tuning methods of P, PI and PID controllers, with the design criterion of maximal distance between the less distant pole and the imaginary axis of the root locus of the local system. Modern control approach is not neglected, but also used for dynamic compensation and analysed for confirming results. Numerical simulations have validated results and experimentsare in march.
|Document Type:||Conference or Workshop Item (Paper)|
|Additional Information:||LIDO-Berichtsjahr=1995, pages=6,|
|Title:||Dynamics, Control and Simulation of Elastic Space Manipulators.|
|Journal or Publication Title:||Proc. 2nd Brazilian Symp. on Aerospace Technology (1994)|
|Keywords:||Space Manipulators, Dynamics and Control, Testbed, Teleoperation|
|Event Title:||2dn Brazilian Symposium on Aerospace Technology, Sao Jose dos Campos, SP, Brazil, 17-21 Oct. 1994|
|HGF - Research field:||UNSPECIFIED|
|HGF - Program:||Space|
|HGF - Program Themes:||W SY - Technik für Raumfahrtsysteme|
|DLR - Research area:||UNSPECIFIED|
|DLR - Program:||W SY - Technik für Raumfahrtsysteme|
|DLR - Research theme (Project):||UNSPECIFIED|
|Institutes and Institutions:||Space Operations and Astronaut Training > Hauptabteilung Raumflugmissionen|
|Deposited By:||elib DLR-Beauftragter|
|Deposited On:||02 Apr 2006|
|Last Modified:||27 Apr 2009 05:20|
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