Adaptive Control and Simulation of an Elastic Space Manipulator Replica.

Kurzfassung

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.