Title :
Trajectory control of flexible space robot
Author :
Kiran, G. Surya ; Kumar, Amit ; Pathak, Pushparaj M. ; Sukavanam, N.
Author_Institution :
Mech. & Ind. Eng. Dept., Indian Inst. of Technol., Roorkee
Abstract :
This paper presents a trajectory control scheme for single link flexible manipulator. Using Bond Graph modeling technique, Rayleigh´s beam model was used to model flexible link. The validity of the proposed control scheme is explained through simulation results.
Keywords :
bond graphs; flexible manipulators; position control; bond graph modeling technique; flexible space robot; single link flexible manipulator; trajectory control; Bonding; Equations; Manipulator dynamics; Motion control; Orbital robotics; Power system modeling; Robot kinematics; Robot vision systems; Robotics and automation; Vibration control;
Conference_Titel :
Mechatronics and Automation, 2008. ICMA 2008. IEEE International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
978-1-4244-2631-7
Electronic_ISBN :
978-1-4244-2632-4
DOI :
10.1109/ICMA.2008.4798848
