Showing papers by "Paolo Rocco published in 2008"
26 Mar 2008
TL;DR: This paper deals with a joint prototype of the ESA space manipulator DEXARM, where a model of the joint, accounting for elasticity, friction, and torque ripple is developed and validated.
Abstract: This paper deals with a joint prototype of the ESA space manipulator DEXARM. First a model of the joint, accounting for elasticity, friction, and torque ripple is developed and validated. Then two approaches to the design of the position controller are compared on the basis of several experimental results obtained on a special purpose test setup.
9 citations
Proceedings Article•
01 Jan 20081 citations