In this paper the motion input pre-shaping method, applied to flexible manipulators for space applications, is analyzed in terms of sensitivity and robustness to parameters uncertainties. The special environment of space operations and the project specifications lead to the design of manipulators with light and flexible structures. In order to highlight the performances of these methods an open loop control technique was implemented. The control technique is verified with both numerical simulations and experiments. This paper presents the results of a series of experimental tests carried out on the Space Robot Simulator assembly, called Test-bed for Microgravity Simulation in Robotic Arm Dynamics (TeMSRAD) (Mimmi et al., 2004), which has been set up at the Dipartimento di Meccanica Strutturale, Università di Pavia. The innovative task of the research was to determine experimentally the sensitivity curve for One- Hump and Two-Hump Extra-Insensitive input shapers, for different vibration limits, by purposely introducing errors in the system model, in order to simulate typical operating conditions.
Sensitivity Performance of Input Shapers Applied to Command Profiles as Diagnostic Tool for Flexible Robots
MIMMI, GIOVANNI;ROTTENBACHER, CARLO EUGENIO ALESSANDRO;REGAZZONI, MANUEL
2006-01-01
Abstract
In this paper the motion input pre-shaping method, applied to flexible manipulators for space applications, is analyzed in terms of sensitivity and robustness to parameters uncertainties. The special environment of space operations and the project specifications lead to the design of manipulators with light and flexible structures. In order to highlight the performances of these methods an open loop control technique was implemented. The control technique is verified with both numerical simulations and experiments. This paper presents the results of a series of experimental tests carried out on the Space Robot Simulator assembly, called Test-bed for Microgravity Simulation in Robotic Arm Dynamics (TeMSRAD) (Mimmi et al., 2004), which has been set up at the Dipartimento di Meccanica Strutturale, Università di Pavia. The innovative task of the research was to determine experimentally the sensitivity curve for One- Hump and Two-Hump Extra-Insensitive input shapers, for different vibration limits, by purposely introducing errors in the system model, in order to simulate typical operating conditions.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
