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Dynamic Modelling and Control Strategies of Space Manipulators

[+] Author and Article Information
A. Ercoli-Finzi, P. Mantegazza

Dipartimento di Ingegneria Aerospaziale, Politecnico di Milano, via Golgi 40, 20133 Milano, Italy

Appl. Mech. Rev 46(11S), S165-S172 (Nov 01, 1993) doi:10.1115/1.3122634 History: Online April 29, 2009

Abstract

In this work the dynamics of a manipulator arm is analyzed by Maggi’s formulation and by automatic development of the equations of motion. Two control strategies, that is an adaptive and a standard one, are taken into account in order to satisfactory perform pick and place maneuvers. Numerical simulations emphasize performance qualities and limits of the two choices and suggest a possible implementation of mixed control strategies.

Copyright © 1993 by American Society of Mechanical Engineers
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