Cooperative manipulation of a floating object by some space robots: 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 Control Engineering, Kyushu Institute of Technology, Tobata, Kitakyushu 804-8550, Japan;(2) Department of Ocean Mechanical Engineering, National Fisheries University, Shimonoseki, Japan |
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Abstract: | In future space missions, it is considered that many tasks will be achieved by cooperative motions of space robots. For free-floating space robots with manipulators, we have proposed a digital tracking control method using the transpose of the generalized Jacobian matrix (GJM). In this paper, the tracking control method using the transpose of the GJM is applied to cooperative manipulations of a floating object by space robots. Simulation results show the effectiveness of the control method. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007 |
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Keywords: | Space robot Manipulator Digital control Generalized Jacobian matrix Tracking control |
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