Control of Hardware-In-The-Loop Space Contact Simulation Robot
Description
The book focuses on control methods of hardware-in-the-loop simulation robots on the ground to simulate the contact dynamics of spacecraft and space manipulators in space. Both principles and engineering practice have been addressed. This is achieved by providing an in-depth study of several major topics such as control system structure and modeling, simulation distortion analysis, distortion compensation control methods, simulation and experimental verification, and applications. The comprehensive and systematic treatment of practical issues in the control of hardware-in-the-loop space contact simulation robots is one of the main features of the book, which is particularly suitable for readers who are interested in learning practical solutions in the control of hardware-in-the-loop space contact simulation robots. The book can benefit researchers, engineers, and graduate students in the fields of aerospace engineering, mechanical engineering, and control engineering, etc.
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Content
Introduction.- Robot System for Hardware in the loop Simulation of Space Contact Dynamics.- Modeling and Distortion Analysis of Hybrid Simulation System.- Compensation of Force Measurement Delay.- Compensation of Robot Dynamic Response Delay.- Compensation of Robot Structure Dynamics.- Compensation of Upper Platform Structure Dynamics.- Lumped Distortion Compensation Control.- Distributed Distortion Compensation Control.- Learning based Distortion Compensation Control.
