scholarly journals Motion Control of a Three-Link Space Robot to Reduce the Base Attitude Disturbance (Experimental Verification by Using Two-Degree-of-Freedom Control)

2004 ◽  
Vol 70 (693) ◽  
pp. 1409-1416
Author(s):  
Zhiqiang WENG ◽  
Hidekazu NISHIMURA ◽  
Shinya TAKAHASHI ◽  
Yoshiaki TAMURA
Keyword(s):  
Motion Control ◽  
Experimental Verification ◽  
Degree Of Freedom ◽  
Space Robot ◽  
Two Degree Of Freedom

Towards the Design of an Optimal Energetic Sink in a Strongly Inhomogeneous Two-Degree-of-Freedom System

2006 ◽  
Vol 74 (6) ◽  
pp. 1078-1086 ◽  
Author(s):  
L. I. Manevitch ◽  
E. Gourdon ◽  
C. H. Lamarque
Keyword(s):  
Computer Simulation ◽  
Energy Transfer ◽  
Comparative Analysis ◽  
Analytical Solution ◽  
Experimental Verification ◽  
Degree Of Freedom ◽  
Analytical Prediction ◽  
Energy Pumping ◽  
Strong Energy ◽  
Two Degree Of Freedom

Analytical, numerical, and experimental results of energy pumping in a strongly inhomogeneous two-degree-of-freedom system are to be presented in this study. The latter is based both on efficient analytical solution and comparative analysis for various types of energetic sinks. Considering the efficient pumping process as damped beating with strong energy transfer, it is shown that we can design the sinks with amplitude-phase variables which provide the most efficient result. In this study, the main types of energetic sinks are to be compared. Computer simulation has confirmed the analytical predictions which had been obtained. Experimental verification of the analytical prediction is considered for a particular type of sink.

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