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Titolo:
Contact dynamics and force control of space manipulator systems
Autore:
Kim, SW; Misra, AK; Modi, VJ;
Indirizzi:
McGill Univ, Dept Mech Engn, Montreal, PQ H3A 2K6, Canada McGill Univ Montreal PQ Canada H3A 2K6 Engn, Montreal, PQ H3A 2K6, Canada Univ British Columbia, Dept Mech Engn, Vancouver, BC V6T 1Z4, Canada Univ British Columbia Vancouver BC Canada V6T 1Z4 ver, BC V6T 1Z4, Canada
Titolo Testata:
PHILOSOPHICAL TRANSACTIONS OF THE ROYAL SOCIETY OF LONDON SERIES A-MATHEMATICAL PHYSICAL AND ENGINEERING SCIENCES
fascicolo: 1788, volume: 359, anno: 2001,
pagine: 2271 - 2286
SICI:
1364-503X(20011115)359:1788<2271:CDAFCO>2.0.ZU;2-H
Fonte:
ISI
Lingua:
ENG
Keywords:
contact dynamics; friction; flexible multibody systems; force control; vibration control;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Physical, Chemical & Earth Sciences
Citazioni:
12
Recensione:
Indirizzi per estratti:
Indirizzo: Kim, SW McGill Univ, Dept Mech Engn, Montreal, PQ H3A 2K6, Canada McGill Univ Montreal PQ Canada H3A 2K6 ntreal, PQ H3A 2K6, Canada
Citazione:
S.W. Kim et al., "Contact dynamics and force control of space manipulator systems", PHI T ROY A, 359(1788), 2001, pp. 2271-2286

Abstract

Detailed modelling of contact dynamics involving a flexible space manipulator system and a payload is considered in this paper. The components undergoing direct contact (the end-effector of a manipulator and a payload) are modelled using the finite-element method, while the rest of the system is handled through the usual flexible multi-body formulation. Then, the system dynamics is composed of a set of differential equations subjected to sets ofalgebraic equations expressing kinematic or contact constraints. This dynamic model is then used to design a composite controller which must simultaneously achieve three goals: (i) trajectory tracking, (ii) force control and(iii) stabilization of the flexible degrees of freedom of the multi-body system. The singular perturbation method is used to obtain two reduced-ordermodels, subsequently, the slow subsystem is used to design a hybrid position/force controller based on impedance control, and the fast subsystem is used to design a linear quadratic regulator (LQR).

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Documento generato il 01/10/20 alle ore 15:40:32