{"title":"柔性空间站遥控机械手训练系统控制","authors":"S. Ananthakrishnan, N. M. Wahbah","doi":"10.1109/CCA.1993.348313","DOIUrl":null,"url":null,"abstract":"This paper describes the modelling, design, and analysis of the joint control system for the Space Station remote manipulator ground training system. The purpose of this robotic system is to emulate the Space Station Remote Manipulator System in form, function, and performance, so that astronauts can receive flight-like training in one-g environment. The main focus of the paper is joint control design in the presence of boom and joint flexibility, and nonlinearities associated with actuators, drive trains, and sensors.<<ETX>>","PeriodicalId":276779,"journal":{"name":"Proceedings of IEEE International Conference on Control and Applications","volume":"57 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Control of flexible space station remote manipulator training system\",\"authors\":\"S. Ananthakrishnan, N. M. Wahbah\",\"doi\":\"10.1109/CCA.1993.348313\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper describes the modelling, design, and analysis of the joint control system for the Space Station remote manipulator ground training system. The purpose of this robotic system is to emulate the Space Station Remote Manipulator System in form, function, and performance, so that astronauts can receive flight-like training in one-g environment. The main focus of the paper is joint control design in the presence of boom and joint flexibility, and nonlinearities associated with actuators, drive trains, and sensors.<<ETX>>\",\"PeriodicalId\":276779,\"journal\":{\"name\":\"Proceedings of IEEE International Conference on Control and Applications\",\"volume\":\"57 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1993-09-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of IEEE International Conference on Control and Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCA.1993.348313\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IEEE International Conference on Control and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCA.1993.348313","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Control of flexible space station remote manipulator training system
This paper describes the modelling, design, and analysis of the joint control system for the Space Station remote manipulator ground training system. The purpose of this robotic system is to emulate the Space Station Remote Manipulator System in form, function, and performance, so that astronauts can receive flight-like training in one-g environment. The main focus of the paper is joint control design in the presence of boom and joint flexibility, and nonlinearities associated with actuators, drive trains, and sensors.<>
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