Cooperative manipulation of a floating object by some space robots with joint velocity controllers: application of a tracking control method using the transpose of the generalized Jacobian matrix

被引：0

作者：

Sagara, Shinichi ^{[1
]}

Taira, Yuichiro ^{[2
]}

机构：

[1] Kyushu Inst Technol, Dept Control Engn, Kitakyushu, Fukuoka 8048550, Japan

[2] Natl Fisheries Univ, Dept Ocean Mech Engn, Shimonoseki, Yamaguchi, Japan

来源：

ARTIFICIAL LIFE AND ROBOTICS | 2009年 / 14卷 / 03期

关键词：

Space robot; Manipulator; Digital control; Cooperative manipulation; Generalized Jacobian matrix;

D O I：

10.1007/s10015-009-0693-y

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We have studied the cooperative manipulation of a floating object by several space robots. For these cooperative motions, we have reported that a tracking control method using the transpose of the generalized Jacobian matrix (GJM) can be utilized for robots with joint torque controllers. For cooperative motions by some robots with joint velocity controllers, we proposed a tracking control method using the transpose of the GJM. Simulation results show the effectiveness of the proposed control method.

引用

页码：392 / 396

页数：5

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