Accession Number : ADA309675

Title :   Experiments in High-Performance Control of a Multi Link Flexible Manipulator With a Mini-Manipulator.

Descriptive Note : Final rept. 1 Apr 93-31 Mar 94,

Corporate Author : STANFORD UNIV CA DEPT OF AERONAUTICS AND ASTRONAUTICS

Personal Author(s) : Ballhaus, William L.

PDF Url : ADA309675

Report Date : 12 FEB 1996

Pagination or Media Count : 181

Abstract : Space-based manipulator systems like the Shuttle Remote Manipulation System contain long slender links that are inherently very flexible, which flexibility slows and degrades end-point position performance and makes high-performance control difficult. This project's research focuses on increasing the achievable slew and end-point performance of multi-link flexible manipulators through use of a small, high-bandwidth rigid robot at the tip, together with direct end-point sensing. A new soft-terminal-control approach has been developed for multi-link flexible manipulators that exploits both high-bandwidth local-manipulation capability and the redundancy introduced by the mani-manipulator, and the fact that the flexible main arm can be positioned more quickly to be within an area than it can be position to be at a point. In developing this new control approach, fundamental advances were made in trajectory generation, feedback-control design, and modelling of multi-link flexible manipulators.

Descriptors :   *ROBOTS, *MANIPULATORS, *REMOTE CONTROL, *FLEXIBLE STRUCTURES, *SPACE BASED, PERFORMANCE(ENGINEERING), FEEDBACK, RADIO LINKS, TRAJECTORIES, REDUNDANCY, SLEWING, MULTIPLE OPERATION.

Subject Categories : Cybernetics
      Astronautics

Distribution Statement : APPROVED FOR PUBLIC RELEASE