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Singh, Taranjitsingh B. (2016) Feedback Control Design for Weight Offloading of a Planetary Lander by Means of an Industrial Robot. Master's, Technical University of Hamburg-Harburg.
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Abstract
In this thesis, force control strategy is designed and implemented in Simulink. This is done to investigate the two tasks of the weight offloading of a lander and the oscillation damping with the help of an industrial robot. This force strategy takes into account the modeling of the robot plant. The dynamic equations of motion are derived using Newton-Euler formulation and the parameters are estimated in a systematic manner. Motion control scheme is used to get closed loop simulations of the system to imitate the manufacturer’s control. Force control scheme is implemented as an outer loop of the system to simulate the tasks.
| Item URL in elib: | https://elib.dlr.de/105091/ | ||||||||
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| Document Type: | Thesis (Master's) | ||||||||
| Title: | Feedback Control Design for Weight Offloading of a Planetary Lander by Means of an Industrial Robot | ||||||||
| Authors: |
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| Date: | 2016 | ||||||||
| Refereed publication: | No | ||||||||
| Open Access: | No | ||||||||
| Number of Pages: | 75 | ||||||||
| Status: | Published | ||||||||
| Keywords: | Robot Dynamics, System Identification, Robot Motion Control, Robot Force Control | ||||||||
| Institution: | Technical University of Hamburg-Harburg | ||||||||
| Department: | Institute of Control Systems | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Space | ||||||||
| HGF - Program Themes: | Space System Technology | ||||||||
| DLR - Research area: | Raumfahrt | ||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||
| DLR - Research theme (Project): | R - Vorhaben Robotdynamik & Simulation (old) | ||||||||
| Location: | Bremen | ||||||||
| Institutes and Institutions: | Institute of Space Systems > Explorationssysteme | ||||||||
| Deposited By: | Singh, Taranjitsingh Baldevsingh | ||||||||
| Deposited On: | 04 Aug 2016 12:07 | ||||||||
| Last Modified: | 02 Nov 2016 09:13 |
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