DocumentCode
2319535
Title
Control of flexible space station remote manipulator training system
Author
Ananthakrishnan, S. ; Wahbah, M.M.
Author_Institution
McDonnell Douglas Space Res. Co., Houston, TX, USA
fYear
1993
fDate
13-16 Sep 1993
Firstpage
15
Abstract
This paper describes the modelling, design, and analysis of the joint control system for the Space Station remote manipulator ground training system. The purpose of this robotic system is to emulate the Space Station Remote Manipulator System in form, function, and performance, so that astronauts can receive flight-like training in one-g environment. The main focus of the paper is joint control design in the presence of boom and joint flexibility, and nonlinearities associated with actuators, drive trains, and sensors
Keywords
aerospace simulation; distributed parameter systems; large-scale systems; mobile robots; space vehicles; telecontrol; training; flexible space station remote manipulator training system; flexible system control; ground training system; joint control system; Control systems; Gears; Manipulators; Orbital robotics; Servomotors; Shape; Shoulder; Space stations; Telerobotics; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1993., Second IEEE Conference on
Conference_Location
Vancouver, BC
Print_ISBN
0-7803-1872-2
Type
conf
DOI
10.1109/CCA.1993.348313
Filename
348313
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