NASA Technical Reports Server (NTRS) 19930017218: Interaction dynamics and control for orbital assembly

16 Pages·0.29 MB·English

by  NASA Technical Reports Server (NTRS)

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Fm(S) Vm(S)
"=.--- Ym(S)
Admittance model of the manipulator.
_ F_(t)Vr,,(t)dt >__0
Condition for manipulator passivity
Fe(S)
Impedance model of the environment.
> 0
f _ Fr( t)Ve(t)dt
Condition for environmental passivity
Vm(S)
Ym(s)
Ze(S)
Fe(s)
Model of manipulator coupled to environment.
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OF POOR QUALITY
Model of a "typical" actuator.
Parameter Value Units
Motor Inertia, Jm 0.0934 kg-m 2
(reflected to output side)
Motor Viscous Damping, Bm 3.4 N-m/(rad/s)
(reflected to output side)
Harmonic Drive Stiffness, Ks 1600 N-m/rad
Load Viscous Damping, B1 0.7 N-m/(rad/s)
Representative Load Inertia, J1 0.64 kg-m 2
Gear Ratio 100:1 N/A
Representative Actuator Parameters