Abstract
Equations of motion in model coordinates are derived for a single-link, flexible remote manipulator arm with a noncollocated sensor and actuator. The arm has an actuator with torque control at the pinned end and a visual sensor at the free end. A command generator tracker prescribes the rigid body mode to track the motion of a satellite in space while a model following adaptive controller dictates the flexible body modes. Performance results are obtained from a simulation developed using Advanced Continuous Simulation Language.
Original language | English (US) |
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Title of host publication | American Society of Mechanical Engineers, Production Engineering Division (Publication) PED |
Editors | Max Donath, Ming C. Leu |
Place of Publication | New York, NY, USA |
Publisher | ASME |
Pages | 115-119 |
Number of pages | 5 |
Volume | 15 |
State | Published - 1985 |
Externally published | Yes |
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Mechanical Engineering