The Distributed Control System Of a Light Space Manipulator

Author

Jia, Hongliang ; Zhuang, Weimin ; Bai, Yuxin ; Fan, Peng ; Huang, Qiang

Author_Institution

Beijing Inst. of Technol., Beijing

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

3525

Lastpage

3530

Abstract

To build a space station, a manipulator is indispensable, especially a light space manipulator with high stiffness is necessary for spacecrafts. In this paper, a distributed control system is presented to such a manipulator for the purpose of reliability, compactness and light weight. A main controller is located inside the spacecraft and six joint controllers are placed inside the joints. All the controllers communicate with each other through RS422 serial data bus, and the manipulator is controlled via the main controller. The effectiveness of this distributed control system is partly confirmed by the ground experiments.

Keywords

aerospace control; aerospace robotics; avionics; distributed control; manipulators; microcontrollers; space vehicles; system buses; RS422 serial data bus; control DSP; distributed control system; joint controllers; light space manipulator; space station; spacecrafts; trajectory planning DSP; Control systems; Distributed control; Electrostatic precipitators; Manipulators; Mechatronics; Robotics and automation; Space stations; Space vehicles; Tellurium; Weight control; Index space manipulator; distributed control;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4304131

Filename

4304131