Cart (Loading....) | Create Account
Close category search window
 

Methodology for control of a space robot with flexible links

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $31
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Senda, K. ; Dept. of Aerosp. Eng., Osaka Prefecture Univ., Japan ; Murotsu, Y.

A methodology of stable manipulation-variable feedback control of space robots with flexible links for avoiding static target and continuous path tracking is discussed. The proposed methodology is effective for base-fixed robots with flexible links on the ground, as well as free-flying space robots. A virtual rigid manipulator (VRM) concept is introduced and a pseudo-resolved-motion rate control for flexible manipulators is derived. By using the VRM, other controls, including an extended local PD-control and a pseudo-resolved-acceleration control, are given. They can be transformed into joint-variable feedback controls and are robust stable. Combining those controls with a reduced-order modal control yields a composite control. The asymptotic stability of the static target is verified by the Lyapunov method. For path tracking control, the orbital stability is discussed in terms of the singular perturbation method. Numerical simulations demonstrate the effectiveness and feasibility of the proposed method

Published in:

Control Theory and Applications, IEE Proceedings -  (Volume:147 ,  Issue: 6 )

Date of Publication:

Nov 2000

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.