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Modeling and Control of Robot-Structure Coupling During In-Space Structure AssemblyThis paper considers the problem of robot-structure coupling dynamics during in-space robotic assembly of large flexible structures. A two-legged walking robot is used as a construction agent, whose primary goal is to stably walking on the flexible structure while carrying a substructure component to a designated location. The reaction forces inserted by the structure to the walking robot are treated as bounded disturbance inputs, and a trajectory tracking robotic controller is proposed that combines the standard full state feedback motion controller and an adaptive controller to account for the disturbance inputs. In this study, a reduced-order Euler-Bernoulli beam structure model is adapted, and a finite number of co-located sensors and actuators are distributed along the span of the beam structure. The robot-structure coupling forces are treated as a bounded external forcing function to the structure, and hence an output covariance constraint problem can be formulated, in terms of linear matrix inequality, for optimal structure control by utilizing the direct output feedback controllers. The numerical simulations show the effectiveness of the proposed robot-structure modeling and control methodology.
Document ID
20200000246
Acquisition Source
Ames Research Center
Document Type
Conference Paper
Authors
Swei, Sean (NASA Ames Research Center Moffett Field, CA, United States)
Jenett, Benjamin (NASA Ames Research Center Moffett Field, CA, United States)
Cramer, Nick (NASA Ames Research Center Moffett Field, CA, United States)
Cheung, Kenneth (NASA Ames Research Center Moffett Field, CA, United States)
Date Acquired
January 13, 2020
Publication Date
January 6, 2020
Subject Category
Structural Mechanics
Report/Patent Number
ARC-E-DAA-TN76401
Meeting Information
Meeting: SciTech Forum
Location: Orlando, FL
Country: United States
Start Date: January 6, 2020
End Date: January 10, 2020
Sponsors: American Institute of Aeronautics and Astronautics (AIAA)
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
Technical Review
NASA Peer Committee

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