Motion control of a three-link space robot to reduce the base attitude disturbance (experimental verification by using two-degree-of-freedom control)

Zhiqiang Weng, Hidekazu Nishimura, Shinya Takahashi, Yoshiaki Tamura

Research output: Contribution to journalArticle

Abstract

In this paper, we deal with a three-link space robot moving in planar space without controls for the base attitude. Our experimental setup of the three-link space robot can levitate by use of compressed air. Using d'Alembert principle, it is shown that the state equation of the three-link space robot can be reconstructed as a first-order nonholonomic system with the constraint condition that the rotational velocity of the base is set to be zero. The suitable final postures corresponding to the desired position of the end effector can be determined using the concept of the enhanced disturbance map. Based on the state equation, the feedforward torque inputs can be obtained by the final-state control in order to bring the end effector from an initial position to the desired position. The torque inputs and trajectories obtained are smooth. We designed a two-degree-of-freedom control to follow the obtained trajectory. It is verified from simulation and experiment that the proposed method of motion control is useful.

Original languageEnglish
Pages (from-to)1409-1416
Number of pages8
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume70
Issue number5
Publication statusPublished - 2004 May
Externally publishedYes

Fingerprint

Motion control
Robots
End effectors
Torque
Trajectories
Compressed air
Equations of state
Experiments

Keywords

  • d'Alembert Principle
  • Enhanced Disturbance Map
  • Final-State Control
  • Linear Parameter Varying System
  • Nonholonomic Constraint
  • Space Robot

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

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abstract = "In this paper, we deal with a three-link space robot moving in planar space without controls for the base attitude. Our experimental setup of the three-link space robot can levitate by use of compressed air. Using d'Alembert principle, it is shown that the state equation of the three-link space robot can be reconstructed as a first-order nonholonomic system with the constraint condition that the rotational velocity of the base is set to be zero. The suitable final postures corresponding to the desired position of the end effector can be determined using the concept of the enhanced disturbance map. Based on the state equation, the feedforward torque inputs can be obtained by the final-state control in order to bring the end effector from an initial position to the desired position. The torque inputs and trajectories obtained are smooth. We designed a two-degree-of-freedom control to follow the obtained trajectory. It is verified from simulation and experiment that the proposed method of motion control is useful.",
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AU - Tamura, Yoshiaki

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N2 - In this paper, we deal with a three-link space robot moving in planar space without controls for the base attitude. Our experimental setup of the three-link space robot can levitate by use of compressed air. Using d'Alembert principle, it is shown that the state equation of the three-link space robot can be reconstructed as a first-order nonholonomic system with the constraint condition that the rotational velocity of the base is set to be zero. The suitable final postures corresponding to the desired position of the end effector can be determined using the concept of the enhanced disturbance map. Based on the state equation, the feedforward torque inputs can be obtained by the final-state control in order to bring the end effector from an initial position to the desired position. The torque inputs and trajectories obtained are smooth. We designed a two-degree-of-freedom control to follow the obtained trajectory. It is verified from simulation and experiment that the proposed method of motion control is useful.

AB - In this paper, we deal with a three-link space robot moving in planar space without controls for the base attitude. Our experimental setup of the three-link space robot can levitate by use of compressed air. Using d'Alembert principle, it is shown that the state equation of the three-link space robot can be reconstructed as a first-order nonholonomic system with the constraint condition that the rotational velocity of the base is set to be zero. The suitable final postures corresponding to the desired position of the end effector can be determined using the concept of the enhanced disturbance map. Based on the state equation, the feedforward torque inputs can be obtained by the final-state control in order to bring the end effector from an initial position to the desired position. The torque inputs and trajectories obtained are smooth. We designed a two-degree-of-freedom control to follow the obtained trajectory. It is verified from simulation and experiment that the proposed method of motion control is useful.

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