An Effective Control Strategy of Japanese Experimental Module Remote Manipulator System (JEMRMS) Using Coupled and Un-Coupled Dynamics
An Effective Control Strategy of Japanese Experimental Module Remote Manipulator System (JEMRMS) Using Coupled and Un-Coupled Dynamics
复制标题
使用耦合和非耦合动力学的日本实验模块远程机械手系统（JEMRMS）的有效控制策略
DOI：
--
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
Kazuya Yoshida
中科院分区：
文献类型：
--
作者：
S. Abiko;Kazuya Yoshida
本文基于耦合和非耦合动力学，讨论了安装在日本实验模块上的机械臂系统的有效控制策略。安装在国际空间站（ISS）上的空间操纵系统有望执行精细操纵，以维护国际空间站或协助实验。这种机械手系统由于灵活性而容易受到振动，从而导致操作精度下降。然而，关注反应动力学，可以进行操作来抑制此类振动或在系统中产生最小或零振动。 JEMRMS是安装在国际空间站日本实验舱（JEM）上的机械手系统，由6DOF宏观部分和6DOF微观部分组成。通过协调宏观和微观部件，开发了一种立即抑制振动的控制（称为耦合振动抑制）和一种产生最小振动的操作（称为无反应操作）。通过数值模拟证明了所提出的操作的有效性。然而，如果处理惯性未知的有效负载，由于系统的模型误差，振动抑制和无反应操纵可能无法正常工作。还模拟了这样的情况，以证明纠正模型误差的方法的必要性。
In this paper, an effective control strategy of a manipulator system, which will be mounted on Japanese Experimental Module, is discussed based on the coupled and un-coupled dynamics. Space manipulator systems mounted on the International Space Station (ISS) are expected to perform fine manipulation for maintenance of ISS or assistance of experiments. Such manipulator systems are subject to vibrations due to flexibility, which cause degradation of the operational accuracy. Paying attention to the reaction dynamics, however, it is possible to carry out the manipulation to suppress such vibrations or generate minimum, or zero, vibrations in the system. The JEMRMS is a manipulator system to be mounted on Japanese Experimental Module (JEM) of ISS, comprising 6DOF macro part and 6DOF micro part. By coordinating macro and micro parts, a control to suppress the vibrations immediately, termed coupled vibration suppression, and a manipulation that yields minimum vibrations, named reactionless manipulation, are developed. The validity of the proposed manipulations are presented with numerical simulations. If the payload with unknown inertia is handled, however, the vibration suppression and the reactionless manipulation may not work correctly due to the model error of the system. Such a case is also simulated to demonstrate the necessity of a method to correct the model error.