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Vibration Suppression Control of a Space Robot with Flexible Appendages Based on Simple Dynamic Model

Hirano, D. and Fujii, Y. and Abiko, S. and Lampariello, Roberto and Nagaoka, R. and Yoshida, K. (2013) Vibration Suppression Control of a Space Robot with Flexible Appendages Based on Simple Dynamic Model. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X). IEEE/RSJ International Conference on Intelligent Robots and Systems 2013 (IROS 13), 3-8 Nov 2013, Tokyo, Japan. ISSN 1042-296X

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Abstract

This paper discusses a vibration suppression control method for a space robot with a rigid manipulator and flexible appendage. A suitable dynamic model that considers the coupling between the manipulator and flexible appendage was developed for the controller to accomplish the vibration suppression control of the flexible appendage. The flexible appendage was modeled using a virtual joint model, and the control method was developed on the basis of this model. Although this type of control requires feedback of the flexible appendage state, its direct measurement is generally difficult. Thus, an estimator of the flexible appendage state was constructed using a force/torque sensor attached between the base and flexible appendage. The control method was experimentally verified using an air-floating system.

Item URL in elib:https://elib.dlr.de/87429/
Document Type:Conference or Workshop Item (Speech)
Title:Vibration Suppression Control of a Space Robot with Flexible Appendages Based on Simple Dynamic Model
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hirano, D.UNSPECIFIEDUNSPECIFIED
Fujii, Y.UNSPECIFIEDUNSPECIFIED
Abiko, S.UNSPECIFIEDUNSPECIFIED
Lampariello, RobertoRoberto.Lampariello (at) dlr.deUNSPECIFIED
Nagaoka, R.UNSPECIFIEDUNSPECIFIED
Yoshida, K.UNSPECIFIEDUNSPECIFIED
Date:November 2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
ISSN:1042-296X
Status:Published
Keywords:Space Robotics, Vibration Suppression Control, Flexible Appendages
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems 2013 (IROS 13)
Event Location:Tokyo, Japan
Event Type:international Conference
Event Dates:3-8 Nov 2013
Organizer:IROS2013 Organizing Committee
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 on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Lampariello, Roberto
Deposited On:10 Jan 2014 13:36
Last Modified:31 Jul 2019 19:44

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