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

fYear

1991

fDate

3-5 Nov 1991

Firstpage

1669

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IROS.1991.174757

Filename

174757