An adaptive control of a space manipulator for vibration suppression
An adaptive control of a space manipulator for vibration suppression
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DOI：
10.1109/iros.2005.1545414
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发表时间：
2005-12
期刊：
影响因子：
--
通讯作者：
S. Abiko;Kazuya Yoshida
中科院分区：
文献类型：
--
作者：
S. Abiko;Kazuya Yoshida
本文讨论了一种自适应控制的空间机械臂称为JEMRMS的振动抑制。JEMRMS等空间机械臂因结构灵活性而容易受到振动的影响。为了科普这样的缺点，已经开发了用于使振动激励最小化和用于使振动阻尼最大化的控制策略。然而，这些策略需要一个精确的模型的机械手动力学。如果正在处理具有未知动态特性的有效载荷，则使用上述策略会导致振动激励或端点的不准确定位。在本文中，自适应控制的振动抑制控制，以保证系统的稳定性存在的模型不确定性。
This paper addresses an adaptive control of a space manipulator termed JEMRMS for vibration suppression. Space manipulators such as JEMRMS are subject to vibrations due to structural flexibility. To cope with such a drawback, control strategies for minimization of vibration excitation and for maximization of vibration damping have already been developed. However those strategies require an accurate model of the manipulator dynamics. If a payload with unknown dynamic properties is being handled, the use of the above stated strategies lead to vibration excitation, or to inaccurate positioning of the end point. In this paper, an adaptive control for the vibration suppression control is addressed to guarantee the stability of the system in the presence of model uncertainty.