Vibration suppression control of a space robot with flexible appendage based on simple dynamic model
Vibration suppression control of a space robot with flexible appendage based on simple dynamic model
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DOI：
10.1109/iros.2013.6696441
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发表时间：
2013-12
期刊：
影响因子：
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通讯作者：
Daichi Hirano;Y. Fujii;S. Abiko;R. Lampariello;K. Nagaoka;Kazuya Yoshida
中科院分区：
文献类型：
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作者：
Daichi Hirano;Y. Fujii;S. Abiko;R. Lampariello;K. Nagaoka;Kazuya Yoshida
讨论了一种具有刚性机械臂和柔性附件的空间机器人的振动抑制控制方法。为实现柔性附件的振动抑制控制，建立了考虑柔性附件与机械臂耦合的动力学模型。采用虚拟关节模型对柔性附件进行建模，并在此基础上提出了控制方法。虽然这种类型的控制需要柔性附件状态的反馈，但其直接测量通常是困难的。因此，使用附着在基座和柔性附肢之间的力/扭矩传感器来构造柔性附肢状态的估计器。采用气浮系统对该控制方法进行了实验验证。
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.