Teleoperation of Mechanical Manipulators Aboard the U.S. Space Station
Abstract
This study presents a new analytical controller design strategy for the
teleoperation of mechanical manipulators aboard the U.S. Space Station. This
controller design strategy emphasizes on the stability of a closed-loop control
system involving time delay. Simplified dynamic equations of the Stanford arm
are considered as the manipulator model. A local linearizing and decoupling
control algorithm is applied to linearize and decouple the dynamic equations.
Once the linear form of the manipulator is obtained, a model prediction control
loop is constructed and implemented as a digital controller to provide the
predictive states information, and a particular model reduction method is
applied to yield a reduced-order digital controller. This reduced-order digital
controller is a highly self-tuned controller which can control the closed-loop
system with time delay by following a specified performance.
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Last modified: August 8, 2005 -- © François Cellier