Control system prototyping of the STVF manipulator test-bed

被引：0
|
作者：
Dupuis, E
Ouellet, A
Doyon, M
Aghili, F
Piedboeuf, JC
机构：
来源：
SPACE ROBOTICS (SPRO'98) | 1999年
关键词：
robot control; model-following control; flexible arms; dynamic modelling;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Through its implication on the International Space Station (ISS), Canada is responsible for the verification of all robotic tasks involving the SPDM. To this end, the Canadian Space Agency is building the SPDM Task Verification Test-bed (STVF). Risks associated with the proposed concept have been identified, particularly in the area of control systems, dynamic behaviour and contact stability of the STVF Manipulator Test-bed (SMT). To mitigate these risks, a one degree-of-freedom prototype is implemented to validate the proposed control system architecture. The results are presented and discussed in light of the final SMT implementation. Copyright (C) 1998 IFAC.
引用
收藏
页码：171 / 175
页数：5
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