NDLI: Adaptive hybrid suppression control using piezoelectric patches on flexible solar panels

Content Provider	IEEE Xplore Digital Library
Author	Zarafshan, P. Moosavian, S.A.A.
Copyright Year	2011
Description	Author affiliation: Advanced Robotics & Automated Systems (ARAS) Laboratory, Dept of Mechanical Eng, K. N. Toosi Univ. of Tech, Tehran 19991-34433, Iran (Zarafshan, P.; Moosavian, S.A.A.)
Abstract	Flexible members such as solar panels of space robotic systems during a maneuver may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated object, which in turn produces error in the position and speed of the manipulating end-effectors, which should be prevented. In this paper, a new control algorithm for an object manipulation task by a space robotic system with flexible members is proposed. To this end, first the system dynamics is partitioned into two rigid and flexible bodies' motion, and an applied model for control implementations on compounded rigid-flexible multi-body systems is developed. Then, based on a designed path/trajectory for a space robotic system, an Adaptive Hybrid Suppression Control (AHSC) is proposed to perform an object manipulation task by such complicated rigid-flexible multi-body systems. Finally, a space free flying robotic system is simulated which contains two 2-DOF planar manipulators, and a rotating antenna and a camera as its third and fourth arms, appended with two solar panels equipped with a single array of piezoelectric patches on tip of each. Obtained results reveal the merits of the proposed AHSC algorithm which will be discussed.
Starting Page	718
Ending Page	723
File Size	408609
Page Count	6
File Format	PDF
ISBN	9781457708381
ISSN	21596255
e-ISBN	9781457708398
DOI	10.1109/AIM.2011.6027066
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-03
Publisher Place	Hungary
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mathematical model Equations Dynamics Aerospace electronics Robot kinematics Manipulators Adaptive Hybrid Suppression Control Space Robot Flexibility Object Manipulation Mobile Robot
Content Type	Text
Resource Type	Article

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