Joint Driver and Control Design for Large Torque, Long Arm Space Remote Manipulator
This paper presents an overview of the structure and requirements of a ground engineering model for a space remote manipulator system, with long arm and large torque driver capacity. The system consists of a 6 DOFs robot arm composed of six identical modular joints, and a large-error tolerated end effector. A FPGA based joint controller hardware structure is built to form a distributed control scheme of the robot arm, while a fourth-order hybrid controller based on the joint torque feedback is adopted to reduce the influence of joint flexibility, brought by the harmonic drivers and torque sensor, on the control precision. A single-joint control experiment, designed to lift up a load at the tip of a link, about two meters in length, is used to test the ability of trajectory tracking in the gravity field.
Space Robot Modular Joint Driver & Control
Chuangqiang Guo Fenglei Ni Jingting Sun Yechao Liu Hong Liu
State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin,Heilongjiang Provin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin,Heilongjiang Provi
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-6
2010-06-20（万方平台首次上网日期，不代表论文的发表时间）