Authors
Jiao Jia, Yingmin Jia, Shihao Sun
Corresponding Author
Jiao Jia
Available Online 1 September 2016.
DOI
https://doi.org/10.2991/jrnal.2016.3.2.3
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 ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/