Performance Study of Different Robotic Manipulator Systems Designed for Space Debris Management
Sayanti Pal, A. Arockia Bazil Raj, Shraddha R Shinde
Abstract
This paper proposes electronics and auxiliary system design requirements generated for particular torque and power of robotic manipulator attached with under-actuated gripper mounted on a self-stabilized spacecraft designed for capture of debris and refueling of satellite. Simulation is carried out at our robotics laboratory with different types of controllers like Proportional-integral-derivative (PID), Linear-quadratic-regulator (LQR), Fuzzy logic controller (FLC) and Sliding mode control (SMC) in order to decide the best controller for this application.
Topics & Concepts
Control theory (sociology)PID controllerSpacecraftControl engineeringLinear-quadratic regulatorFuzzy logicController (irrigation)TorqueComputer scienceEngineeringRoboticsRobot manipulatorPower (physics)RobotArtificial intelligenceControl (management)Aerospace engineeringBiologyThermodynamicsPhysicsTemperature controlAgronomyQuantum mechanicsSpace Satellite Systems and ControlModular Robots and Swarm IntelligenceControl and Dynamics of Mobile Robots