Title :
System identification and resolved acceleration control of space robots by using experimental system
Author :
Murotsu, Yoshisada ; Tsujio, Showzow ; Senda, Kei ; Mitsuya, Akira
Author_Institution :
Dept. of Aeronaut. Eng., Osaka Prefecture Univ., Japan
Abstract :
An experimental system is constructed to evaluate performance and feasibility of modeling, identification and control methods for space robots. The experimental system achieves a two-dimensional weightless condition by means of a horizontal table and air-pads. As a preliminary experimental study, two identification methods for space robots are discussed. The first identification method is a conventional method for manipulators on an inertially fixed base. The second identification method can determine dynamic parameters of space robots under the condition that the satellite base is free to both translate and rotate. This method is based upon the conservation laws of linear and angular momentum of a space robot. Finally implementation schemes of resolved acceleration control are considered for the experimental system
Keywords :
acceleration control; aerospace control; identification; mobile robots; air-pads; conservation laws; dynamic parameters; horizontal table; identification; inertially fixed base; resolved acceleration control; space robots; two-dimensional weightless condition; Acceleration; Aerodynamics; Control systems; Manipulator dynamics; Orbital robotics; Robot control; Satellites; Space missions; Space technology; System identification;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174757
