TY - GEN
T1 - Vibration suppression control of a space robot with flexible appendage based on simple dynamic model
AU - Hirano, Daichi
AU - Fujii, Yusuke
AU - Abiko, Satoko
AU - Lampariello, Roberto
AU - Nagaoka, Kenji
AU - Yoshida, Kazuya
PY - 2013
Y1 - 2013
N2 - This paper discusses a vibration suppression control method for a space robot with a rigid manipulator and flexible appendage. A suitable dynamic model that considers the coupling between the manipulator and flexible appendage was developed for the controller to accomplish the vibration suppression control of the flexible appendage. The flexible appendage was modeled using a virtual joint model, and the control method was developed on the basis of this model. Although this type of control requires feedback of the flexible appendage state, its direct measurement is generally difficult. Thus, an estimator of the flexible appendage state was constructed using a force/torque sensor attached between the base and flexible appendage. The control method was experimentally verified using an air-floating system.
AB - This paper discusses a vibration suppression control method for a space robot with a rigid manipulator and flexible appendage. A suitable dynamic model that considers the coupling between the manipulator and flexible appendage was developed for the controller to accomplish the vibration suppression control of the flexible appendage. The flexible appendage was modeled using a virtual joint model, and the control method was developed on the basis of this model. Although this type of control requires feedback of the flexible appendage state, its direct measurement is generally difficult. Thus, an estimator of the flexible appendage state was constructed using a force/torque sensor attached between the base and flexible appendage. The control method was experimentally verified using an air-floating system.
UR - http://www.scopus.com/inward/record.url?scp=84893727927&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893727927&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696441
DO - 10.1109/IROS.2013.6696441
M3 - Conference contribution
AN - SCOPUS:84893727927
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 789
EP - 794
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -