Title :
Disturbance rejection for space-based manipulators
Author :
Holt, K. ; Desrochers, A.A.
Author_Institution :
Lockheed Eng. & Sci. Co., Houston, TX, USA
Abstract :
This paper describes the implementation of a disturbance rejection controller for a 6-DOF PUMA manipulator mounted on a 3-DOF platform. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Experimental results are presented for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities
Keywords :
aerospace control; kinematics; manipulators; position control; stability; tracking; 3-DOF platform; 6-DOF PUMA manipulator; disturbance rejection; end-effector; inertial space; kinematic singularities; random disturbances; rotational axis; sinusoidal disturbances; space-based manipulators; step disturbances; unknown disturbances; Algorithm design and analysis; Attitude control; Jacobian matrices; Mobile robots; NASA; Orbital robotics; Robotic assembly; Satellites; Space vehicles; Switches;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351156
