Modeling and Control of a Suspended Gravity Compensation System with Rigid-Elastic Coupling

被引：1
|
作者：
Jia, Jiao [1 ,2 ]
Jia, Yingmin [1 ,2 ]
Sun, Shihao [1 ,2 ]
机构：
[1] Beihang Univ BUAA, Sch Automat Sci & Elect Engn, Res Div 7, Beijing 100191, Peoples R China
[2] Beihang Univ BUAA, Sch Automat Sci & Elect Engn, Ctr Informat & Control, Beijing 100191, Peoples R China
来源：
JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE | 2016年 / 3卷 / 02期
关键词：
gravity compensation; rigid-elastic coupling; Lagrange method; feedback linearization; PID;
D O I：
10.2991/jrnal.2016.3.2.3
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, a suspension gravity compensation system (SGCS) is modeled and the corresponding controller is designed. The system is a servo platform consisting of three sub-systems by which a micro-gravity environment can be established. Especially, a novel zero stiffness suspension sub-system and a creative unconstrained structure are proposed. The system model is deduced based on Lagrange equation. A PID controller is designed by using the feedback linearization approach. Simulation results show the effectiveness of the proposed method.
引用
收藏
页码：79 / 83
页数：5
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