| Title: | OS5-4 Modeling and Control of a Suspended Gravity Compensation System with Rigid-Flexible Coupling |
|---|---|
| Publication: | ICAROB2016 |
| Volume: | 21 |
| Pages: | 369-372 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2016.OS5-4 |
| Author(s): | Jiao Jia, Yingmin Jia, Shihao Sun |
| Publication Date: | January 29, 2016 |
| Keywords: | gravity compensation, rigid-flexible coupling, Lagrange method, feedback linearization, PID |
| Abstract: | In this paper, the suspension gravity compensation system (SGCS) is modeled and the corresponding controller is designed. The system is a servo platform consisting of three sub-systems by which a micro-gravity environment can be established. Especially, a novel zero stiffness suspension sub-system and a creative unconstrained structure are proposed. The system model is deduced based on Lagrange equation. A PID controller is designed by using the feedback linearization approach. Simulation results show the effectiveness of the proposed method. |
| PDF File: | https://alife-robotics.co.jp/members2016/icarob/data/papers/OS/OS5-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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