Feedback Control Design for Weight Offloading of a Planetary Lander by Means of an Industrial Robot

In this thesis, force control strategy is designed and implemented in Simulink. This is done to investigate the two tasks of the weight offloading of a lander and the oscillation damping with the help of an industrial robot. This force strategy takes into account the modeling of the robot plant. The dynamic equations of motion are derived using Newton-Euler formulation and the parameters are estimated in a systematic manner. Motion control scheme is used to get closed loop simulations of the system to imitate the manufacturer’s control. Force control scheme is implemented as an outer loop of the system to simulate the tasks