TY - GEN
T1 - Simultaneous control for end-point motion and vibration suppression of a space robot based on simple dynamic model
AU - Hirano, Daichi
AU - Fujii, Yusuke
AU - Abiko, Satoko
AU - Lampariello, Roberto
AU - Nagaoka, Kenji
AU - Yoshida, Kazuya
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - This paper addresses a dynamic model and a control method of a space robot with a rigid manipulator and a flexible appendage. The control method has been developed for performing multiple tasks: end-point motion control and vibration suppression control of a flexible appendage. A simple dynamic model that considers coupling between the manipulator and the flexible appendage is proposed for the control method. The tasks are performed simultaneously on the basis of their order of priorities using a redundant manipulator. Additionally, because vibration suppression requires feedback of the state of the flexible appendage, a state estimator of the appendage using a force/torque sensor is developed. Finally, the proposed model, control method, and state estimator were verified experimentally using an air-floating system.
AB - This paper addresses a dynamic model and a control method of a space robot with a rigid manipulator and a flexible appendage. The control method has been developed for performing multiple tasks: end-point motion control and vibration suppression control of a flexible appendage. A simple dynamic model that considers coupling between the manipulator and the flexible appendage is proposed for the control method. The tasks are performed simultaneously on the basis of their order of priorities using a redundant manipulator. Additionally, because vibration suppression requires feedback of the state of the flexible appendage, a state estimator of the appendage using a force/torque sensor is developed. Finally, the proposed model, control method, and state estimator were verified experimentally using an air-floating system.
UR - http://www.scopus.com/inward/record.url?scp=84929180212&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929180212&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907838
DO - 10.1109/ICRA.2014.6907838
M3 - Conference contribution
AN - SCOPUS:84929180212
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 6631
EP - 6637
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -