Digital tracking control of space robots using a transpose of the generalized Jacobian matrix

被引：2

作者：

Sagara S. ^{[1
]}

Taira Y. ^{[2
]}

机构：

[1] Department of Control Engineering, Kyushu Institute of Technology, Tobata

[2] Department of Ocean Mechanical Engineering, National Fisheries University, Shimonoseki

来源：

Artificial Life and Robotics | 2007年 / 11卷 / 1期

关键词：

Digital control; Generalized Jacobian matrix; Manipulator; Space robot; Tracking control;

D O I：

10.1007/s10015-006-0405-9

中图分类号：

学科分类号：

摘要：

We have proposed discrete time-control methods using the transpose of the generalized Jacobian matrix (GJM) for free-floating space robots having manipulators. The control methods are robust for singular configurations of robots. Since the methods belong to a class of constant-value control, in this article we propose a digital trajectory tracking control method using the transpose of the GJM. Computer simulations show the effectiveness of the proposed method. © ISAROB 2007.

引用

页码：82 / 86

页数：4

共 6 条

[1]

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[2]

Yoshida K., Umetani Y., Control of space manipulators with generalized, Jacobian Matrix Y Xu T Kanade Space Robotics: Dynamics and Control, pp. 165-204, (1993)

[3]

Masutani Y., Miyazaki F., Arimoto S., Modeling and sensory feedback control for space manipulators, Proceedings of the 1989 NASA Conference on Space Telerobotics, pp. 287-296, (1989)

[4]

Taira Y., Sagara S., Katoh R., Digital control of a space robot using the transpose of the generalized Jacobian matrix, Trans JSME Ser C, 67, 654, pp. 436-442, (2001)

[5]

Taira Y., Sagara S., Katoh R., Digital control of a space robot using the transpose of the generalized Jacobian matrix (2nd report). A unified approach for torque and velocity-type control laws, Trans JSME Ser C, 67, 663, pp. 3540-3547, (2001)

[6]

Taira Y., Sagara S., A design of digital adaptive control systems for space robot manipulators using a transpose of the generalized Jacobian matrix, J Artif Life Robotics, 9, pp. 41-45, (2005)

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