NASA NTRS · 19930009740
CSI related dynamics and control issues in space robotics
Abstract
The research addressed includes: (1) CSI issues in space robotics; (2) control of elastic payloads, which includes 1-DOF example, and 3-DOF harmonic drive arm with elastic beam; and (3) control of large space arms with elastic links, which includes testbed description, modeling, and experimental implementation of colocated PD and end-point tip position controllers.
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Schmitz, Eric, Ramey, Madison. 1993-02-01. CSI related dynamics and control issues in space robotics. https://ntrs.nasa.gov/citations/19930009740
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