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Ultra-lightweight space arm DELIAN: mechatronic analysis and joint control design
This paper deals with the design of the control system for a joint prototype of the ESAspace manipulator DELIAN.A model of the joint is developed, focusing on theassessment of joint structural parameters and most important torque disturbances, that are mainly related to the dependence of friction on velocity, angular position and temperature.Then,analysis and design of the “industrial” P/PI controller are carried out, givingcontrol system stability conditions, and proposing an “optimal” tuning, with respect to setpoint tracking and disturbance rejection requirements, for the velocity and position loops.
Bascetta Luca, Cavenago Francesco, Magnani Gianantonio, Rusconi Andrea
Paper for Seminar/Symposium/Conference
IFAC 2017 - International Congress of the Federation of Automatic Control (09-14 July 2017, Toulouse, France)
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