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Adaptive Control and Simulation of an Elastic Space Manipulator Replica.

Fonseca, R. A. and de Moraes, R.V. and Schäfer, B. E. (1996) Adaptive Control and Simulation of an Elastic Space Manipulator Replica. 13th IFAC World Congress, San Francisco, USA, 30 June - 5 July 1996, Paper No. IFAC-2390.

Full text not available from this repository.

Abstract

The DLR in Germany has set up a testbed for Telerobotic Servicing Opereations in Space, the Servicing Test Facility (STF), with a gravity-compatible 1:5 scaled prototype replica of the Hermes Robotic Arm (HERA) based on a counterbalancing weights mechanism. This manipulator system allows for testing of new adaptive control schemes that have been developed for efficient reduction of settling time in space operation. The design criterion is maximal distance between the imaginary axis of the systems root locus and the closest pole to it. The poles are not strictly allocated, but their relative positions to each other are determined.

Document Type:Conference or Workshop Item (Speech)
Additional Information: LIDO-Berichtsjahr=1996, pages=6,
Title:Adaptive Control and Simulation of an Elastic Space Manipulator Replica.
Authors:
AuthorsInstitution or Email of Authors
Fonseca, R. A.UNSPECIFIED
de Moraes, R.V.UNSPECIFIED
Schäfer, B. E.UNSPECIFIED
Date:1996
Status:Published
Keywords:Adaptive control, Flexible arms, On-line control, Pole assignment, Robotic manipulators, Structural parameters.
Event Title:13th IFAC World Congress, San Francisco, USA, 30 June - 5 July 1996, Paper No. IFAC-2390
HGF - Research field:UNSPECIFIED
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:UNSPECIFIED
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):UNSPECIFIED
Location: Oberpfaffenhofen
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 05:21

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