Closed-loop vibration control of flexible space shuttle manipulator
β Scribed by Colin L. Kirk; Frank L. Doengi
- Book ID
- 118381881
- Publisher
- Elsevier Science
- Year
- 1994
- Tongue
- English
- Weight
- 931 KB
- Volume
- 32
- Category
- Article
- ISSN
- 0094-5765
No coin nor oath required. For personal study only.
π SIMILAR VOLUMES
In spatial 3D flexible manipulators, some parameters change, depending upon the arm's configuration. The relationship between vibrations and actuators might be configuration-dependent. Therefore, such configuration dependency has to be considered in the control of 3D spatial flexible manipulators. L
In this work, position and vibration control problem of a flexible robot arm with a voice coil type actuator is investigated. For the vibration suppression, a voice coil type actuator is designed and is implemented using H~ control scheme, in order to guarantee the controlled system robust against u
## Abstract A redundant manipulator is useful for posture control while maintaining the desired endβeffector position by using its redundancy. This makes it possible to perform agile motions such as obstacle avoidance while achieving the target task. However, as the number of degrees of freedom of