scholarly journals Problems of development motion control algorithms for a small spacecraft for technological purpose taking into account temperature deformations of solar panels

2020 ◽  
Vol 1546 ◽  
pp. 012015 ◽  
Author(s):  
A S Gorozhankina ◽  
D I Orlov ◽  
D A Belousova
Keyword(s):  
Motion Control ◽  
Control Algorithms ◽  
Solar Panels ◽  
Small Spacecraft ◽  
Temperature Deformations ◽  
Account Temperature

A Variational Approach for Modeling Flexibility Effects in Manipulator Arms

Robotica ◽  
1991 ◽  
Vol 9 (2) ◽  
pp. 213-217 ◽  
Author(s):  
Ali Meghdari
Keyword(s):  
Motion Control ◽  
Variational Approach ◽  
Control Algorithms ◽  
General Technique ◽  
Robotic Arms ◽  
Cartesian Space ◽  
The Matrix ◽  
Structural Deformations ◽  
Castigliano’S Theorem ◽  
Compliance Coefficients

SUMMARYThis paper presents a general technique to model flexible components (mainly links and joints flexibilities are considered) of manipulator arms based on Castigliano's theorem of least work. The robotic arms flexibility properties are derived and represented by the matrix of compliance coefficients. Such expressions can be used to determine the errors due to the robotic tip deformations under the application of a set of applied loads at the tip in a Cartesian space. Once these deformations are computed, they may be used to correct for the positional errors arisen from the robotic structural deformations in the motion control algorithms.

scholarly journals A SPACE ROBOT CONTROL AT VISUAL MONITORING THE STATE OF A GEOSTATIONARY SATELLITE

2020 ◽  
Vol 22 (5) ◽  
pp. 79-83
Author(s):  
Ye.I. Somov ◽  
◽  
S.A. Butyrin ◽  
T.Ye. Somova ◽  
◽  
...  
Keyword(s):  
Motion Control ◽  
Robot Control ◽  
The State ◽  
Numerical Results ◽  
Geostationary Satellite ◽  
Space Robot ◽  
Control Algorithms ◽  
Visual Monitoring ◽  
Guidance And Control ◽  
And Control

Methods for guidance and motion control of a space robot during a flyby of a geostationary satellite at a visual monitoring its technical state are considered. Numerical results are presented that demonstrate the effectiveness of the developed discrete guidance and control algorithms.

scholarly journals Analysis of Direct Torque Control with pace Vector Modulation for Synchronous Reluctance Motor Motion Control Applications and a Comparison with Other Torque-Control Algorithms

2019 ◽  
Vol 4 (1) ◽  
pp. 103-113
Author(s):  
Tibor Vajsz ◽  
László Számel ◽  
Árpád Handler
Keyword(s):  
Motion Control ◽  
Direct Torque Control ◽  
Motor Drives ◽  
Torque Control ◽  
Control Algorithms ◽  
Control Applications ◽  
Synchronous Reluctance Motor ◽  
Research Activities ◽  
Reluctance Motor ◽  
Vector Modulation

Abstract Motion control is facing an increasing popularity in the present research activities. Owing to the expected wide spreading of motion control applications, it can be predicted that the advancements in the field of electric motor drives will have a high level of influence on the new results in the field of motion control. The synchronous reluctance motor drives mean an excellent and yet cost-effective solution for actuators in motion control applications. In this article, the direct torque control with space vector modulation is analysed as a possible candidate for synchronous reluctance motor motion control applications. Its torque-control performance is investigated as a function of torque-control sample time, and a comparison of the torque ripples is made with other torque-control algorithms by an FFT analysis.

A Variational Approach for Modeling Flexibility Effects in Manipulator Arms

1990 ◽  
Author(s):  
A. Meghdari
Keyword(s):  
Motion Control ◽  
Variational Approach ◽  
Control Algorithms ◽  
General Technique ◽  
Robotic Arms ◽  
Cartesian Space ◽  
The Matrix ◽  
Structural Deformations ◽  
Castigliano’S Theorem ◽  
Compliance Coefficients

Abstract This paper presents a general technique to model flexible components (mainly links and joints flexibilities are considered) of manipulator arms based on the Castigliano’s theorem of least work. The robotic arms flexibility properties are derived and represented by the matrix of compliance coefficients. Such expressions can be used to determine the errors due to the robotic tip deformations under the application of a set of applied loads at the tip in Cartesian space. Once these deformations are computed, they may be used to correct for the positional errors arisen from the robotic structural deformations in the motion control algorithms.

Motion Control Algorithms for Sensor-Equipped Robots

1987 ◽  
Vol 109 (4) ◽  
pp. 335-344 ◽  
Author(s):  
M. Shoham ◽  
Y. Koren
Keyword(s):  
Coordinate System ◽  
Motion Control ◽  
Inverse Kinematics ◽  
Sufficient Conditions ◽  
Design Stage ◽  
Control Algorithms ◽  
Target Point

This paper deals with the development of kinematic algorithms for the control of sensor-equipped robots. The kinematics is solved in the sensor coordinate system, which reduces the computation efforts, and allows the elimination of the first joint encoder. Simplification of the algorithms can be obtained when approximations are used to solve the inverse kinematics. Three control algorithms based on approximations are presented. However, with these algorithms, convergence to the target is not always guaranteed. A Theorem which specifies the sufficient conditions required for a trajectory to converge to a target point is proved. Based on this Theorem robot parameters can be selected in the design stage of the manipulator. This is illustrated for several types of manipulators.

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