Teleoperation of mechanical manipulators aboard the US space station

Persistent Link:
http://hdl.handle.net/10150/276611
Title:
Teleoperation of mechanical manipulators aboard the US space station
Author:
Pan, Ya-Dung, 1960-
Issue Date:
1987
Publisher:
The University of Arizona.
Rights:
Copyright © 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.
Abstract:
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.
Type:
text; Thesis-Reproduction (electronic)
Keywords:
Manipulators (Mechanism)
Degree Name:
M.S.
Degree Level:
masters
Degree Program:
Graduate College; Aerospace and Mechanical Engineering
Degree Grantor:
University of Arizona
Advisor:
Cellier, Francois E.

Full metadata record

DC FieldValue Language
dc.language.isoen_USen_US
dc.titleTeleoperation of mechanical manipulators aboard the US space stationen_US
dc.creatorPan, Ya-Dung, 1960-en_US
dc.contributor.authorPan, Ya-Dung, 1960-en_US
dc.date.issued1987en_US
dc.publisherThe University of Arizona.en_US
dc.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.en_US
dc.description.abstractThis 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.en_US
dc.typetexten_US
dc.typeThesis-Reproduction (electronic)en_US
dc.subjectManipulators (Mechanism)en_US
thesis.degree.nameM.S.en_US
thesis.degree.levelmastersen_US
thesis.degree.disciplineGraduate Collegeen_US
thesis.degree.disciplineAerospace and Mechanical Engineeringen_US
thesis.degree.grantorUniversity of Arizonaen_US
dc.contributor.advisorCellier, Francois E.en_US
dc.identifier.proquest1332479en_US
dc.identifier.oclc19580129en_US
dc.identifier.bibrecord.b16807315en_US
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