This paper describes an experimental testing apparatus set up by the authors in order to validate the effectiveness of the motion input pre-shaping technique for the open-loop control in microgravity environment. The system consists of a two flexible links planar manipulator suspended on special air-pads floating on a planar friction-free glass surface. Since the friction between the two pads mounted on the manipulator and the platform is reduced to almost zero, the planar dynamics of the system very closely approximates the dynamics in a microgravity environment. In order to focus on the motion inputs, the brushless motors are controlled in speed mode.
An Experimental Test-Bed for Microgravity Simulation in Robotic Arm Dynamics
MIMMI, GIOVANNI;ROTTENBACHER, CARLO EUGENIO ALESSANDRO;FROSINI, LUCIA;NEGRI, ANDREA
2004-01-01
Abstract
This paper describes an experimental testing apparatus set up by the authors in order to validate the effectiveness of the motion input pre-shaping technique for the open-loop control in microgravity environment. The system consists of a two flexible links planar manipulator suspended on special air-pads floating on a planar friction-free glass surface. Since the friction between the two pads mounted on the manipulator and the platform is reduced to almost zero, the planar dynamics of the system very closely approximates the dynamics in a microgravity environment. In order to focus on the motion inputs, the brushless motors are controlled in speed mode.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
