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 |
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Authors: | Shinichi Sagara Yuichiro Taira |
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Affiliation: | (1) Department of Aerospace Engineering, Tohoku University, 6-6-01 Aoba-yama, 980-8579 Sendai, Japan;(2) Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, 91109 Pasadena, CA, USA |
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Abstract: | We have studied the cooperative manipulation of 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. |
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