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Control of elastic robotic systems by nonlinear inversion and modal dampingEnergy efficient, lightweight robot arms for space applications have considerable structural flexibility. For large and fast motions, both the nonlinear coupled dynamics and the elastic behavior of the robots must be considered in control system designs. This paper presents an approach to the control of a class of flexible robotic systems. A control law is derived which decouples the joint-angle motion from the flexible motion and asymptotically decomposes the elastic dynamics into two subsystems, representing the transverse vibrations of the elastic link in two orthogonal planes. This decomposition allows the design of an elastic mode stabilizer independently based on lower order models representing structural flexibility. The closed-loop system is shown to be globally asymptotically stable and robust to uncertainty in system parameters. Simulation results are presented to show that large, fast control of joint angles can be performed in spite of space vehicle motion and uncertainty in the payload.
Document ID
19870023851
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Singh, S. N.
(Vigyan Research Associates, Inc. Hampton, VA, United States)
Schy, A. A.
(NASA Langley Research Center Hampton, VA, United States)
Date Acquired
August 13, 2013
Publication Date
September 1, 1986
Publication Information
Publication: ASME, Transactions, Journal of Dynamic Systems, Measurement, and Control
Volume: 108
ISSN: 0022-0434
Subject Category
Cybernetics
Accession Number
87A11125
Funding Number(s)
CONTRACT_GRANT: NAS1-17369
Distribution Limits
Public
Copyright
Other

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