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Vibration control of a manipulator tip on a flexible bodyVibration control of a rigid manipulator tip on a main flexible uniform beam is examined. It is proposed to add a compensator between the manipulator and the beam to rotate and extend/retrieve the manipulator during the control period. The 2D station-keeping maneuvers within the linear range without gravity and damping are considered. The compensatory open-loop control law, which depends on the amplitudes of the beam's flexible deformations at the connection joint, is synthesized using linear quadratic regulator techniques. After introducing the compensatory control into the system, system control is still stable, and the tip coordinates of the manipulator can be made to closely follow the rigid beam motion, which is assumed to be a desired motion.
Document ID
19930045377
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Xu, J.
(NASA Headquarters Washington, DC United States)
Bainum, P. M.
(NASA Headquarters Washington, DC United States)
Li, F.
(Howard Univ. Washington, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: Dynamics and control of large structures; Proceedings of the 8th VPI&SU Symposium, Blacksburg, VA, May 6-8, 1991 (A93-29328 10-63)
Publisher: Virginia Polytechnic Institute and State University
Subject Category
Cybernetics
Accession Number
93A29374
Funding Number(s)
CONTRACT_GRANT: NSG-1414
Distribution Limits
Public
Copyright
Other

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