| タイトル | Elastic robot control - Nonlinear inversion and linear stabilization |
| 著者（英） | Schy, A. A.; Singh, S. N. |
| 著者所属（英） | Vigyan Research Associates, Inc. |
| 発行日 | 1986-07-01 |
| 言語 | eng |
| 内容記述 | An approach to the control of elastic robot systems for space applications using inversion, servocompensation, and feedback stabilization is presented. For simplicity, a robot arm (PUMA type) with three rotational joints is considered. The third link is assumed to be elastic. Using an inversion algorithm, a nonlinear decoupling control law u(d) is derived such that in the closed-loop system independent control of joint angles by the three joint torquers is accomplished. For the stabilization of elastic oscillations, a linear feedback torquer control law u(s) is obtained applying linear quadratic optimization to the linearized arm model augmented with a servocompensator about the terminal state. Simulation results show that in spite of uncertainties in the payload and vehicle angular velocity, good joint angle control and damping of elastic oscillations are obtained with the torquer control law u = u(d) + u(s). |
| NASA分類 | CYBERNETICS |
| レポートNO | 87A14956 |
| 権利 | Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/381352 |
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