Post-impact Motion Control of a Space Robot with Flexible Manipulator

Sharmila Kayastha, Lingling Shi, Jayantha Katupitiya, Garth Pearce

科研成果: 书/报告/会议事项章节会议稿件同行评审

2 引用 (Scopus)

摘要

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.

源语言英语
主期刊名2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
出版商Institute of Electrical and Electronics Engineers Inc.
710-715
页数6
ISBN(电子版)9781538695821
DOI
出版状态已出版 - 18 12月 2018
活动15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018 - Singapore, 新加坡
期限: 18 11月 201821 11月 2018

出版系列

姓名2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018

会议

会议15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
国家/地区新加坡
Singapore
时期18/11/1821/11/18

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