論文

査読有り
2004年

Experimental study on stabilizing control of a floating planar space robot

Proceedings of the Sixth IASTED International Conference on Intelligent Systems and Control
  • T Narikiyo
  • ,
  • M Ohmiya

開始ページ
30
終了ページ
35
記述言語
英語
掲載種別
研究論文(国際会議プロシーディングス)
出版者・発行元
ACTA PRESS

In this paper the feedback control problem of planar space robot is addressed. Main idea of the proposed control law is to use the properties of the Caplygin system where attitude of the base satellite is determined via contour integral on the plane of the manipulator coordinates. This controller is differentiable and can make the states of the space robot converge to the equilibrium from almost any initial state. The usefulness and validity of this controller can be demonstrated by hardware experiments. In these experiments free flying planar space robot is floated by air on the horizontal plane and controlled by angular velocity inputs. Experimental results show that the proposed smooth control stabilizes the planar space robot and does not excite unmodeled dynamics associated with link flexibility, leading to vibrations.


リンク情報
Web of Science
https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000228556100006&DestApp=WOS_CPL
ID情報
  • Web of Science ID : WOS:000228556100006

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