Abstract:
We propose an integrated motion controller for the Japanese Experimental Module RMS/SFA “macro-mini” manipulator system on the International Space Station. This controlle...Show MoreMetadata
Abstract:
We propose an integrated motion controller for the Japanese Experimental Module RMS/SFA “macro-mini” manipulator system on the International Space Station. This controller is based on the Reaction Null-Space concept described in previous works. The performance of this controller with a planar flexible-base manipulator has been studied in [1]. Here, we show how to implement the controller for the JEMRMS/SFA system and examine its performance via simulations. Results show that end-effector path tracking combined with reactionless motion and vibration suppression can be achieved in a stable way, by making use of the inherent kinematic/dynamic redundancies of the system.
Date of Conference: 22-25 February 2009
Date Added to IEEE Xplore: 08 May 2009
ISBN Information: