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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.
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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.
| Item URL in elib: | https://elib.dlr.de/24182/ | ||||||||||||
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| 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: |
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| Date: | 1996 | ||||||||||||
| Open Access: | No | ||||||||||||
| Gold Open Access: | No | ||||||||||||
| In SCOPUS: | No | ||||||||||||
| In ISI Web of Science: | No | ||||||||||||
| 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: | DLR-Beauftragter, elib | ||||||||||||
| Deposited On: | 02 Apr 2006 | ||||||||||||
| Last Modified: | 27 Apr 2009 05:21 |
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