Work

Ultra-lightweight space arm DELIAN: mechatronic analysis and joint control design

Year: 2017

Type: article

Abstract: This paper deals with the design of the control system for a joint prototype of ESA space manipulator DELIAN. A joint model is developed, focusing on assessment of joint structural parameters and most important torque disturbances, mainly related to dependence of friction on velocity, position and temperature. Then, analysis and design of the P/PI controller are carried out, giving stability conditions, and proposing an optimal tuning for velocity and position loops, with respect to setpoint tracking and disturbance rejection requirements.

Source: IFAC-PapersOnLine

DOI: 10.1016/j.ifacol.2017.08.1382

Authors: Francesco Cavenago, Luca Bascetta, Gianantonio Magnani, Andrea Rusconi

Institution: Politecnico di Milano

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

OpenAlex ID: W2761636617

FWCI: 0.138

Cites: 9

Cited by: 1

Related to: 10