Title :
Modeling and position control of a joint prototype of DEXARM
Author :
Magnani, GianAntonio ; Rocco, Paolo ; Rusconi, Andrea
Author_Institution :
Dipt. di Elettron. e Inf., Politec. di Milano, Milan
Abstract :
This paper deals with a joint prototype of the ESA space manipulator DEXARM. First a model of the joint, accounting for elasticity, friction, and torque ripple is developed and validated. Then two approaches to the design of the position controller are compared on the basis of several experimental results obtained on a special purpose test setup.
Keywords :
aerospace robotics; closed loop systems; dexterous manipulators; elasticity; friction; open loop systems; position control; torque; DEXARM; ESA space manipulator; closed loop system; dexterous robot arm; elasticity; friction; joint prototype; open loop system; position control; torque ripple; Aerospace electronics; Brushless motors; Friction; Orbital robotics; Position control; Predictive models; Prototypes; Regulators; Robot sensing systems; Torque;
Conference_Titel :
Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on
Conference_Location :
Trento
Print_ISBN :
978-1-4244-1702-5
Electronic_ISBN :
978-1-4244-1703-2
DOI :
10.1109/AMC.2008.4516128
