Modeling and Control of a Suspended Gravity Compensation System with Rigid-Elastic Coupling

DOI

10.2991/jrnal.2016.3.2.3How to use a DOI?

Keywords

gravity compensation, rigid-elastic coupling, Lagrange method, feedback linearization, PID

Abstract

In this paper, a suspension gravity compensation system (SGCS) is modeled and the corresponding controller is designed. The system is a servo platform consisting of three sub-systems by which a micro-gravity environment can be established. Especially, a novel zero stiffness suspension sub-system and a creative unconstrained structure are proposed. The system model is deduced based on Lagrange equation. A PID controller is designed by using the feedback linearization approach. Simulation results show the effectiveness of the proposed method.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - JOUR
AU  - Jiao Jia
AU  - Yingmin Jia
AU  - Shihao Sun
PY  - 2016
DA  - 2016/09/01
TI  - Modeling and Control of a Suspended Gravity Compensation System with Rigid-Elastic Coupling
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 79
EP  - 83
VL  - 3
IS  - 2
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.2016.3.2.3
DO  - 10.2991/jrnal.2016.3.2.3
ID  - Jia2016
ER  -