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Design and control of a space based two link manipulator with Lyapunov based control laws

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Author
Sorensen, Dennis R.
Date
1992-09
Advisor
Agrawal, Brij N.
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Abstract
The Flexible Spacecraft Simulator (FSS) at the Naval Postgraduate School was modified by replacing the flexible appendage with a two link robotic manipulator. This experimental setup was designed to simulate motion of a spacecraft about the pitch axis. The spacecraft consists of a main body, a two link manipulator, and momentum wheel actuator to control the pitch attitude of the spacecraft. Position information from the main body and manipulators was obtained from Rotary Variable Displacement Transducers (RVDT). The equations of motion were developed assuming that the main body and manipulator were rigid bodies. the resulting coupled, nonlinear, time invariant equations of motion were used to analyze the dynamics and kinematics of the main body and manipulator as well as the interaction between the main body and manipulator. Three different control strategies were developed using Lyapunov's Second or Direct Method. With the first controller, simple linear feedback of position and velocity information with constant gains was used to position the manipulator and stabilize the main body. A fifth order polynomial was used to generate a reference trajectory for the second controller, This trajectory was used in conjunction with a tracking controller to position and stabilize the system. In the third controller, a near-minimum-time technique was used to generate a reference trajectory. This reference trajectory was employed using a tracking controller similar to that used in the polynomial reference controller.
URI
http://hdl.handle.net/10945/23618
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  • 1. Thesis and Dissertation Collection, all items

Related items

Showing items related by title, author, creator and subject.

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    Cooperative Control of Multiple Space Manipulators 

    Yale, G.; Agrawal, B.N. (1994);
    This paper concerns the cooperative control of multiple manipulators attached to the same base as they reposition a common payload. The theory is easily applied to inertially based problems as well as space based free-floating ...
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    Lyapunov Controller for Cooperative Space Manipulators 

    Yale, G. E.; Agrawal, B.N. (1998);
    The cooperative control of multiplemanipulatorsattached to the samebase asthey reposition a common payload is discussed. The theory is easily appliedto inertially based problems, as well asspace-based free- oating ...
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    Experiments on Command Shaping Control of a Manipulator with Flexible Links 

    Romano, M.; Agrawal, B.N.; Bernelli-Zazzera, F. (2002);
    Minimizing vibrations of a maneuvered flexible manipulator is a challenging task. Results are presented of a series of experimental tests carried out on the Space Robot Simulator assembly, which has been set up at the ...
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