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Dynamics, Control and Simulation of Elastic Space Servomechanisms and Manipulators

Fonseca, R. A. (1997) Dynamics, Control and Simulation of Elastic Space Servomechanisms and Manipulators. Other.

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Abstract

This doctoral thesis comprises essentially reserach results obtained during a cooperation program between reserach istitutes of Brasil (ITA; Sao Jose dos Campos) and Germany (DLR, Oberpfaffenhofen). The global goal consists of three tasks: 1) Analysis of the dynamics of elastic space manipulators, 2) Design of new adaptive control schemes for improving manipulatior performance, 3) Imprint of flight dynamics behaviour to ground manipulator replica using testbeds and simulation tools. Emphasis is given to proper modelling of elasticityArm (ERA), are light-weight structures with elasticity in arms and in arms and joints regarding both, payload mass varying in a large range between kg and almost one ton, and the configuration angle thatis measured between upper and lower arm. Both parameters give strong impact to the eigenfrequencies of the complete system. The controllerdesign takesinto account these influences. It consists of a feed- forward part that forces the manipulator to follow a given trajectory.

Document Type:Monograph (Other)
Additional Information: LIDO-Berichtsjahr=1998,
Title:Dynamics, Control and Simulation of Elastic Space Servomechanisms and Manipulators
Authors:
AuthorsInstitution or Email of Authors
Fonseca, R. A.UNSPECIFIED
Date:1997
Number of Pages:170
Status:Published
Keywords:Robotics, space manipulators, servomechanisms, elasticity, adaptive control, pole assignment, PID controllers, simulation, testbeds
HGF - Research field:UNSPECIFIED
HGF - Program:other
HGF - Program Themes:other
DLR - Research area:UNSPECIFIED
DLR - Program:no assignment
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 05:22

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