The stability properties of an operational space controller applied to a space robotic manipulator are investigated in this paper. It is shown that a major potential source of instability is the drive train dynamics in the joints of the manipulator. An analysis carried out with all normalized parameters shows that a nominally stable position control system may turn out to be unstable in practice. Problems arise also for force control, if proportional controllers are used. The analysis is supported by simulations obtained on a detliled dynamic model of the SPIDER arm, to be used in a space program on the International Space Station.

The operational space control applied to a space robotic manipulator

FERRETTI, GIANNI;MAGNANI, GIANANTONIO;ROCCO, PAOLO
2004-01-01

Abstract

The stability properties of an operational space controller applied to a space robotic manipulator are investigated in this paper. It is shown that a major potential source of instability is the drive train dynamics in the joints of the manipulator. An analysis carried out with all normalized parameters shows that a nominally stable position control system may turn out to be unstable in practice. Problems arise also for force control, if proportional controllers are used. The analysis is supported by simulations obtained on a detliled dynamic model of the SPIDER arm, to be used in a space program on the International Space Station.
2004
Proceedings of the 2004 IEEE International Conference on Robotics & Automation
Operational space; PD control; space robotics; stability.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/265957
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