Experiments in High-Performance Control of a Multi Link Flexible Manipulator With a Mini-Manipulator.
Abstract
Space-based manipulator systems like the Shuttle Remote Manipulation System contain long slender links that are inherently very flexible, which flexibility slows and degrades end-point position performance and makes high-performance control difficult. This project's research focuses on increasing the achievable slew and end-point performance of multi-link flexible manipulators through use of a small, high-bandwidth rigid robot at the tip, together with direct end-point sensing. A new soft-terminal-control approach has been developed for multi-link flexible manipulators that exploits both high-bandwidth local-manipulation capability and the redundancy introduced by the mani-manipulator, and the fact that the flexible main arm can be positioned more quickly to be within an area than it can be position to be at a point. In developing this new control approach, fundamental advances were made in trajectory generation, feedback-control design, and modelling of multi-link flexible manipulators.
Document Details
- Document Type
- Technical Report
- Publication Date
- Feb 12, 1996
- Accession Number
- ADA309675
Entities
People
- William L. Ballhaus
Organizations
- Stanford University