Vibration control of deployment structures' long-reach space manipulators: The P-PED method

This paper presents a control method called the pseudo-passive energy dissipation (P-PED) method. The P-PED method is a closed-loop control scheme for increasing the overall damping characteristics of an elastically-mounted space manipulator system. It reduces degrading base vibrations resulting fro...

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Bibliographic Details
Published inProceedings of IEEE International Conference on Robotics and Automation Vol. 3; pp. 2498 - 2504 vol.3
Main Authors Torres, M.A., Dubowsky, S., Pisoni, A.C.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1996
Subjects
Actuators
Control systems
Damping
Energy dissipation
Manipulator dynamics
Mechanical engineering
Motion control
Space stations
Springs
Vibration control
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Summary:This paper presents a control method called the pseudo-passive energy dissipation (P-PED) method. The P-PED method is a closed-loop control scheme for increasing the overall damping characteristics of an elastically-mounted space manipulator system. It reduces degrading base vibrations resulting from external disturbances or motion of the manipulator, thereby decreasing the time necessary to perform maneuvers. A methodology for computing the optimal P-PED gains is presented. Experimental results are presented which show that the P-PED method is viable for practical implementation.
ISBN:0780329880
9780780329881
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1996.506538