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 language | English |
|---|---|
| Pages (from-to) | 1409-1416 |
| Number of pages | 8 |
| Journal | Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 70 |
| Issue number | 5 |
| Publication status | Published - 2004 May |
| Externally published | Yes |
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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
Motion control of a three-link space robot to reduce the base attitude disturbance (experimental verification by using two-degree-of-freedom control). / Weng, Zhiqiang; Nishimura, Hidekazu; Takahashi, Shinya; Tamura, Yoshiaki.
In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 70, No. 5, 05.2004, p. 1409-1416.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Motion control of a three-link space robot to reduce the base attitude disturbance (experimental verification by using two-degree-of-freedom control)
AU - Weng, Zhiqiang
AU - Nishimura, Hidekazu
AU - Takahashi, Shinya
AU - Tamura, Yoshiaki
PY - 2004/5
Y1 - 2004/5
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.
KW - d'Alembert Principle
KW - Enhanced Disturbance Map
KW - Final-State Control
KW - Linear Parameter Varying System
KW - Nonholonomic Constraint
KW - Space Robot
UR - http://www.scopus.com/inward/record.url?scp=3242758134&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=3242758134&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:3242758134
VL - 70
SP - 1409
EP - 1416
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 5
ER -