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Contact dynamics and force control of space manipulator systems. (English) Zbl 1011.70005

Summary: We consider a detailed modelling of contact dynamics involving a flexible space manipulator system and a payload. The components undergoing direct contact (the end-effector of manipulator and payload) are modelled using the finite element method, while the rest of the system is handled through usual flexible multibody formulation. Then, the system dynamics is composed of a set of differential equations subjected to sets of algebraic equations expressing kinematic or contact constraints. This dynamic model is used to design a composite controller which must simultaneously achieve three goals: (i) trajectory tracking; (ii) force control, and (iii) stabilization of flexible degrees of freedom of the multibody system. The singular perturbation method is used to obtain two reduced-order models; subsequently, the slow subsystem is used to design a hybrid position/force controller based on impedance control, and the fast subsystem is used to design a linear quadratic regulator.

MSC:

70E60 Robot dynamics and control of rigid bodies
74M05 Control, switches and devices (“smart materials”) in solid mechanics
74M15 Contact in solid mechanics
74S05 Finite element methods applied to problems in solid mechanics
70-08 Computational methods for problems pertaining to mechanics of particles and systems
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