TY - GEN
T1 - Post-impact Motion Control of a Space Robot with Flexible Manipulator
AU - Kayastha, Sharmila
AU - Shi, Lingling
AU - Katupitiya, Jayantha
AU - Pearce, Garth
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/18
Y1 - 2018/12/18
N2 - This paper presents the impact dynamics and post-impact motion control of both the spacecraft base and the robot with flexible manipulator. First, the dynamic equations of the system are reformulated in the task space using Lagrangian equation based on assumed mode method. Then, the impact dynamic equations between end-effector of robotic manipulator and the contact object are derived based on momentum conservation principle. To control the unstable motion of the system due to the impact effect caused by an external object, a combination of Sliding Mode Control (SMC) and Linear Quadratic Regulator (LQR) control algorithm is derived. The performances of the proposed control method are validated by numerical simulations. The simulation results show the satisfactory performance of the system.
AB - This paper presents the impact dynamics and post-impact motion control of both the spacecraft base and the robot with flexible manipulator. First, the dynamic equations of the system are reformulated in the task space using Lagrangian equation based on assumed mode method. Then, the impact dynamic equations between end-effector of robotic manipulator and the contact object are derived based on momentum conservation principle. To control the unstable motion of the system due to the impact effect caused by an external object, a combination of Sliding Mode Control (SMC) and Linear Quadratic Regulator (LQR) control algorithm is derived. The performances of the proposed control method are validated by numerical simulations. The simulation results show the satisfactory performance of the system.
UR - http://www.scopus.com/inward/record.url?scp=85060790374&partnerID=8YFLogxK
U2 - 10.1109/ICARCV.2018.8581178
DO - 10.1109/ICARCV.2018.8581178
M3 - Conference contribution
AN - SCOPUS:85060790374
T3 - 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
SP - 710
EP - 715
BT - 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
Y2 - 18 November 2018 through 21 November 2018
ER -