elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Feedback Control Design for Weight Offloading of a Planetary Lander by Means of an Industrial Robot

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.

[img] PDF - Registered users only
2MB

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/
Document Type:Thesis (Master's)
Title:Feedback Control Design for Weight Offloading of a Planetary Lander by Means of an Industrial Robot
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Singh, Taranjitsingh B.Taranjitsingh.Singh (at) dlr.deUNSPECIFIED
Date:2016
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science: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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Robotdynamik & Simulation
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

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.