The presence of flexibilities in rotational joints can limit the kinematic performances of manipulators doing high speed tasks as Pick and Place. The problem addressed in this work concerns the vibration control of serial robots with... more
The presence of flexibilities in rotational joints can limit the kinematic performances of manipulators doing high speed tasks as Pick and Place. The problem addressed in this work concerns the vibration control of serial robots with flexible joints performing Pick and Place tasks in order to improve productivity. Based on a dynamic model of a robot with flexible joints, a model-based control law is proposed with its associated tuning methodology. The robot dynamic model is then the key point of our methodology. This dynamic model considers stiffness and damping of each flexible joint. To guarantee its accuracy, a geometrical and dynamic identification procedure is realized. The objective is to show the relevancy of the proposed approach which integrates joint flexibilities in the control law. Theoretical results based on a representative model are used to illustrate the benefit of this model-based control law compare to two other control strategies (Feedforward control and control ...
The main obstacle of the construction of efficient remote-control systems for space robots is a significant delay in transmissions of control signals to robots from the earth-based control center and receiving feedback signals. This... more
The main obstacle of the construction of efficient remote-control systems for space robots is a significant delay in transmissions of control signals to robots from the earth-based control center and receiving feedback signals. This significantly complicates the solution of control problem, especially if robot's manipulators move objects that have mechanical constraints. Our work describes a method for bilateral control of a space robot with large delays. The uniqueness of this method lies in the special structure of the control algorithm. Bilateral control implies force feedback necessary for the interaction of a space robot with objects that have holonomic connections. We present a new mathematical model of the elements of the bilateral control system and their computer implementation using specific examples.
Introduction kraJd& underwction of Professor Robert H. C anw T he goal of this research is to develop and test new control techniques for self-contained, autonomous free-flying space robots. F'ree-flying space robots are envisioned as a... more
Introduction kraJd& underwction of Professor Robert H. C anw T he goal of this research is to develop and test new control techniques for self-contained, autonomous free-flying space robots. F'ree-flying space robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require astronaut extra-vehicular activity (EVA).
