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Resolved Rate and Torque Control Schemes for Large Scale Space Based Kinematically Redundant ManipulatorsResolved rate control of kinematically redundant ground based manipulators is a challenging problem. The structural, actuator, and control loop frequency characteristics of industrial grade robots generally allow operation with resolved rate control; a rate command is achievable with good accuracy. However, space based manipulators are different, typically have less structural stiffness, more motor and joint friction, and lower control loop cycle frequencies. These undesirable characteristics present a considerable Point of Resolution (POR) control problem for space based, kinematically redundant manipulators for the following reason: a kinematically redundant manipulator requires an arbitrary constraint to solve for the joint rate commands. A space manipulator will not respond to joint rate commands because of these characteristics. A space based manipulator simulation, including free end rigid body dynamics, motor dynamics, motor striction/friction, gearbox backlash, joint striction/friction, and Space Station Remote Manipulator System type configuration parameters, is used to evaluate the performance of a documented resolved rate control law. Alternate schemes which include torque control are also evaluated.
Document ID
19910011329
Acquisition Source
Johnson Space Center
Document Type
Conference Paper
Authors
Robert W Bailey
(LinCom Los Angeles, California, United States)
Leslie J Quiocho
(Johnson Space Center Houston, United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1991
Publication Information
Publication: Fourth Annual Workshop on Space Operations Applications and Research (SOAR 90)
Publisher: National Aeronautics and Space Administration
Volume: 1
Subject Category
Mechanical Engineering
Report/Patent Number
NASA-CP-3103-VOL-1
S-618-VOL-1
Meeting Information
Meeting: 4th Annual Workshop on Space Operations Applications and Research (SOAR)
Location: Albuquerque, NM
Country: US
Start Date: June 26, 1990
End Date: June 28, 1990
Sponsors: United States Air Force, National Aeronautics and Space Administration
Accession Number
91N20642
Distribution Limits
Public
Copyright
Public Use Permitted.
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