Experiments in advanced control concepts for space robotics - An overview of the Stanford Aerospace Robotics LaboratoryThe Stanford University Aerospace Robotics Laboratory is actively developing and experimentally testing advanced robot control strategies for space robotic applications. Early experiments focused on control of very lightweight one-link manipulators and other flexible structures. The results are being extended to position and force control of mini-manipulators attached to flexible manipulators and multilink manipulators with flexible drive trains. Experimental results show that end-point sensing and careful dynamic modeling or adaptive control are key to the success of these control strategies. Free-flying space robot simulators that operate on an air cushion table have been built to test control strategies in which the dynamics of the base of the robot and the payload are important.
Document ID
19880029772
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hollars, M. G. (Stanford Univ. CA, United States)
Cannon, R. H., Jr. (Stanford Univ. CA, United States)
Alexander, H. L. (Stanford Univ. CA, United States)
Morse, D. F. (Stanford, University CA, United States)