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Teleoperation of mechanical manipulators aboard the US space station

This study presents a new analytical controller design strategy for the teleoperation of mechanical manipulators aboard the U.S. space station. This controller design strategy emphasizes on the stability of a closed-loop control system involving time delay. Simplified dynamic equations of the Stanford arm are considered as the manipulator model. A local linearizing and decoupling control algorithm is applied to linearize and decouple the dynamic equations. Once the linear form of the manipulator is obtained, a model prediction control loop is constructed and implemented as a digital controller to provide the predictive states information, and a particular model reduction method is applied to yield a reduced-order digital controller. This reduced-order digital controller is a highly self-tuned controller which can control the closed-loop system with time delay by following a specified performance.

Identiferoai:union.ndltd.org:arizona.edu/oai:arizona.openrepository.com:10150/276611
Date January 1987
CreatorsPan, Ya-Dung, 1960-
ContributorsCellier, Francois E.
PublisherThe University of Arizona.
Source SetsUniversity of Arizona
Languageen_US
Detected LanguageEnglish
Typetext, Thesis-Reproduction (electronic)
RightsCopyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.

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