Trajectory control of flexible manipulators on a free-flying space robot

1992 ◽  
Vol 12 (3) ◽  
pp. 51-57 ◽  
Keyword(s):  
Trajectory Control ◽  
Space Robot ◽  
Flexible Manipulators

Trajectory control of a dual-arm planar space robot with little attitude disturbance

SIMULATION ◽  
2010 ◽  
Vol 87 (3) ◽  
pp. 188-204 ◽  
Author(s):  
Haresh Patolia ◽  
Pushparaj Mani Pathak ◽  
Satish C Jain
Keyword(s):  
Trajectory Control ◽  
Space Robot ◽  
Planar Space ◽  
Dual Arm

Design of Neural Network Controller for Space Robot with Flexible Manipulators

2013 ◽  
Vol 394 ◽  
pp. 393-397
Author(s):  
Jing Ma ◽  
Wen Hui Zhang ◽  
Zhi Hua Zhu
Keyword(s):  
Neural Network ◽  
Pid Control ◽  
Control Method ◽  
System Optimization ◽  
Space Robot ◽  
Learning Ability ◽  
Flexible Manipulators ◽  
Neural Network Controller ◽  
Non Linear System ◽  
Self Learning

Neural network self-learning optimization PID control algorithm is put forward for free-floating space robot with flexible manipulators. Firstly, dynamics model of space flexible robot is established, then, neural network with good learning ability is used to approach non-linear system. Optimization algorithm of network weights is designed to speed up the learning speed and the adjustment velocity. Error function is offered by PID controller. The neural network self-learning PID control method can improve the control precision.

Dynamic Coupling and Control of Flexible Space Robots

2020 ◽  
Vol 20 (09) ◽  
pp. 2050103
Author(s):  
Yanfeng Du ◽  
Cong Wang
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Coupling Effect ◽  
Space Robot ◽  
Flexible Manipulator ◽  
Flexible Manipulators ◽  
Dynamic Coupling ◽  
Input Shaper ◽  
Flexible Panels ◽  
And Control

The dynamic modeling and coupling effect of a space robot are complex when the flexible manipulator and solar panels are considered. This paper investigates the dynamic coupling effect and control of a flexible space robot with flexible manipulators and flexible panels. The equations of motion are derived for the robot model both of the rigid-flexible type and flexible-flexible type. The flexible space robot dynamic model is verified by comparison with the results generated by the ADAMS software, for which good agreement has been obtained. The dynamic coupling matrix of the flexible space robot is derived based on the dynamic model. The effects of the central rigid body mass and the joints angle on the dynamic coupling are analyzed. A control method is proposed to manipulate the flexible space robot based on the system dynamic model. The multiple-impulse robust (MIR) input shaper is used to suppress the vibration of flexible structures in the proposed controller. Appropriate design parameter and frequency scaling factor are selected for the MIR input shaper to suppress the flexible vibration. The flexible space robot control is conducted to illustrate the effect of the proposed controller. It is shown that the proposed control method can realize the desired joints manipulation, while suppressing the vibration of the flexible manipulators and flexible panels.

Trajectory control of flexible space robot

2008 ◽  
Author(s):  
G. Surya Kiran ◽  
Amit Kumar ◽  
Pushparaj M. Pathak ◽  
N. Sukavanam
Keyword(s):  
Trajectory Control ◽  
Space Robot

Trajectory control of a two DOF rigid–flexible space robot by a virtual space vehicle

2013 ◽  
Vol 61 (5) ◽  
pp. 473-482 ◽  
Author(s):  
Amit Kumar ◽  
Pushparaj Mani Pathak ◽  
N. Sukavanam
Keyword(s):  
Space Vehicle ◽  
Trajectory Control ◽  
Virtual Space ◽  
Space Robot
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