A passivity based control methodology for flexible joint robots with application to a simplified shuttle RMS arm

摘要: The main goal is to develop a general theory for the control of flexible robots, including joint link rigid bodies with appendages, etc. As part validation, applied law development test example which consists three-link arm modeled after shoulder yaw space shuttle remote manipulator system (RMS). performance closed loop then compared existing RMS controller demonstrate effectiveness proposed approach. theoretical foundation this new approach robots presented and its efficacy demonstrated through simulation results on arm.