This paper presents a preliminary analysis of a flexible link, flexible joint lightweight robot for space applications, aimed at evaluating the effectiveness and performance of the position control loop which is limited by flexibility of the joints and the limbs, and its robustness with respect to disturbances like, for example, gravity and friction. A model and an experimental characterization of the transmission chain is presented, together with a model of the distributed flexibility of the links based on the floating frame of reference technique. A simulation analysis of the behaviour and performance of the position control loop completes the paper.
Modelling, identification and control of a flexible lightweight robot for space applications
BASCETTA, LUCA;FERRETTI, GIANNI;MAGNANI, GIANANTONIO;SCAGLIONI, BRUNO
2015-01-01
Abstract
This paper presents a preliminary analysis of a flexible link, flexible joint lightweight robot for space applications, aimed at evaluating the effectiveness and performance of the position control loop which is limited by flexibility of the joints and the limbs, and its robustness with respect to disturbances like, for example, gravity and friction. A model and an experimental characterization of the transmission chain is presented, together with a model of the distributed flexibility of the links based on the floating frame of reference technique. A simulation analysis of the behaviour and performance of the position control loop completes the paper.| File | Dimensione | Formato | |
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DYCOSS2014-reprint.pdf
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