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Flexible dynamic modeling and control for the Remote Manipulator System


Flexible dynamic modeling and control for the Remote Manipulator System

Xie, Haipeng (1996) Flexible dynamic modeling and control for the Remote Manipulator System. Masters thesis, Concordia University.



This thesis focuses on modeling and controller design for the Space Shuttle Remote Manipulator System (RMS). A dynamic model of the RMS is derived using Book's recursive Lagrangian method. This model has six degree-of-freedom rigid dynamics, joint flexibility dynamics, link transverse elastic dynamics and torsional elastic dynamics. A computationally efficient control approach for addressing joint and boom flexibility of the RMS is investigated. The control strategy consists essentially of four parts. The first part involves pre-shaping the joint trajectories in order to reduce the excitation of link flexibility. The second part is a rigid model based inverse dynamics control which is used to obtain the desired joint torque. The third part is a flexible-joint control loop which is based on a perturbation technique. The last part is a pulse active damping (PAD) control loop which is applied to damp out the system residual vibrations in a fast manner. The integrated control strategy leads to fast end-effector trajectory tracking with less end-effector vibration and fast damping of residual vibrations.

Divisions:Concordia University > Faculty of Engineering and Computer Science > Electrical and Computer Engineering
Item Type:Thesis (Masters)
Authors:Xie, Haipeng
Pagination:xiv, 131 leaves : ill. ; 29 cm.
Institution:Concordia University
Degree Name:Theses (M.A.Sc.)
Program:Electrical and Computer Engineering
Thesis Supervisor(s):Patel, Rajni
ID Code:182
Deposited By: Concordia University Libraries
Deposited On:27 Aug 2009 17:10
Last Modified:08 Dec 2010 15:13
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