This paper deals with the modelling, validation and control of the ESA space manipulator DELIAN. A numerical model accounting for joints and links flexibility is developed, and structural parameters are identified through experiments on the real robot. Then, the model is validated comparing the behavior of the simulated system with the real one. Moreover, an analysis aiming to understand the contribution of each elastic element to the overall flexibility is carried out. Finally, wave-based control technique is combined to the well-known P/PI scheme in order to reduce system vibrations. Especially, a velocity-based implementation of the WBC is introduced which provides superior performance with respect to the position-based one.

Modelling, Validation and Control of DELIAN Flexible Manipulator

F. Cavenago;G. Ferretti;G. Magnani;
2019

Abstract

This paper deals with the modelling, validation and control of the ESA space manipulator DELIAN. A numerical model accounting for joints and links flexibility is developed, and structural parameters are identified through experiments on the real robot. Then, the model is validated comparing the behavior of the simulated system with the real one. Moreover, an analysis aiming to understand the contribution of each elastic element to the overall flexibility is carried out. Finally, wave-based control technique is combined to the well-known P/PI scheme in order to reduce system vibrations. Especially, a velocity-based implementation of the WBC is introduced which provides superior performance with respect to the position-based one.
Proceedings of 8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019
Space robotics, Flexible arms, Modelling, Parameter identification, Least-squares identification, Validation, Sensitivity analysis, Wave-Based control
File in questo prodotto:
File Dimensione Formato  
1-s2.0-S2405896319316933-main.pdf

accesso aperto

Descrizione: Articolo principale
: Publisher’s version
Dimensione 905.38 kB
Formato Adobe PDF
905.38 kB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1125714
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 6
  • ???jsp.display-item.citation.isi??? 5
social impact