Digital adaptive control of space robot manipulators using transpose of generalized Jacobian matrix

被引:0
作者
Taira, Y [1 ]
Sagara, S [1 ]
Katoh, R [1 ]
机构
[1] Kyushu Inst Technol, Dept Control Engn, Kitakyushu, Fukuoka 8048550, Japan
来源
2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS | 2000年
关键词
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暂无
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
We have proposed a digital control method of space robot manipulators using the transpose of Generalized Jacobian Matrix. The trajectory of the end-effector, however, is generally curved, because a desired trajectory is not defined in the control method. Furthermore, the method is based on the supposition that all physical parameters of the robot manipulator are known; therefore, if the end-effector captures an unknown mass object, the physical parameters are changed and the control performance gets worse. In this paper, setting a desired trajectory and parameter identification are applied to the control method so as to overcome the draw-backs;. Computer simulation, where a 3 DOF planar manipulator mounted on a free-floating robot base is selected, is performed. Simulation result demonstrates the effectiveness of the combination of setting the desired trajectory and parameter identification.
引用
收藏
页码:1553 / 1558
页数:6
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