Nonlinear Modeling of a Long Flexible Manipulator and Control by Inertial Devices

We consider the modeling and control of a planar, long, flexible manipulator that is representative of current space-based robotic arms such as the Space Shuttle Remote Manipulator System. The arm is equipped with three actuators: 1) a shoulder motor; 2) a torque wheel at the tip; and 3) a proof-mas...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Barbieri, Enrique, Kenny, Sean P., Montgomery, Raymond C.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Actuators Arm Eigenvalues and eigenfunctions Manipulators Mobile robots Orbital robotics Shoulder Space shuttles Torque Wheels
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