Title :
Stability aspects of vision-based control for space robots
Author :
Stieber, Michael E. ; Vukovich, George ; Petriu, Emil
Author_Institution :
Canadian Space Agency, Ottawa, Ont., Canada
Abstract :
Delicate tasks for space robots such as the assembly of the International Space Station, require manipulator control systems which cope effectively with structural flexibility and oscillations typical for space robots. The use of vision systems offer new possibilities for precision control for space robots but also poses new challenges due to the noncollocated sensor/actuator configuration on the flexible robot structure. This paper investigates associated stability problems and presents a new control concept which is robust with respect to the variations, nonlinearities and unknowns in the behaviour of large space robots
Keywords :
aerospace control; civil engineering; control nonlinearities; flexible structures; manipulators; robot vision; space vehicles; stability; Space robots; flexible robot structure; manipulator control systems; noncollocated sensor/actuator configuration; nonlinearities; oscillations; precision control; stability; structural flexibility; unknowns; vision-based control; Assembly systems; Control systems; International Space Station; Orbital robotics; Robot control; Robot sensing systems; Robot vision systems; Robotic assembly; Robust stability; Space stations;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606706
