Abstract
In this paper, a design of modularized flexible-joint servo control system for a space manipulator system is presented. First of all, the structure and sensor system of dual-joint is introduced. Next, the features of the hardware system of the dual-joint controller is described, as well as design details and fault tolerant mechanism. Moreover, the working principle of joint torque sensor is analyzed emphatically. The structural optimization design of the joint torque sensor is carried out with the help of the ANSYS program for weight minimization. After that, a position control strategy with joint torque feedback is provided to improve both precision and bandwidth of the control system. Finally, the performance specifications of the dual-joint control system are presented. Experimental results demonstrate the effectiveness of the compact joint servo controller for the space manipulator system.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: INTERNATIONAL JOURNAL ON Advances in Information Sciences and Service Sciences
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
