Control of flexible space station remote manipulator trainingsystem

摘要

This paper describes the modelling, design, and analysis of thenjoint control system for the Space Station remote manipulator groundntraining system. The purpose of this robotic system is to emulate thenSpace Station Remote Manipulator System in form, function, andnperformance, so that astronauts can receive flight-like training innone-g environment. The main focus of the paper is joint control designnin the presence of boom and joint flexibility, and nonlinearitiesnassociated with actuators, drive trains, and sensors