| タイトル | A passivity based control methodology for flexible joint robots with application to a simplified shuttle RMS arm |
| 本文（外部サイト） | http://hdl.handle.net/2060/19910015268 |
| 著者（英） | Wen, John T.; Sicard, Pierre |
| 著者所属（英） | Rensselaer Polytechnic Inst. |
| 発行日 | 1991-01-01 |
| 言語 | eng |
| 内容記述 | The main goal is to develop a general theory for the control of flexible robots, including flexible joint robots, flexible link robots, rigid bodies with flexible appendages, etc. As part of the validation, the theory is applied to the control law development for a test example which consists of a three-link arm modeled after the shoulder yaw joint of the space shuttle remote manipulator system (RMS). The performance of the closed loop control system is then compared with the performance of the existing RMS controller to demonstrate the effectiveness of the proposed approach. The theoretical foundation of this new approach to the control of flexible robots is presented and its efficacy is demonstrated through simulation results on the three-link test arm. |
| NASA分類 | MECHANICAL ENGINEERING |
| レポートNO | 91N24582
NASA-CR-188176
NAS 1.26:188176 |
| 権利 | No Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/132273 |
