Digital control of space robot manipulators with velocity type joint controller using transpose of 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: | For free floating space robots having manipulators, we have proposed a discrete-time tracking control method using the transpose
of Generalized Jacobian Matrix (GJM). Control inputs of the control method are joint torques of the manipulator. In this paper,
the control method is augmented for angular velocity inputs of the joints. Computer simulations have shown the effectiveness
of the augmented method.
This work was presented in part and awarded as Best Paper Award at the 13th International Symposium on Artificial Life and
Robotics, Oita, Japan, January 31–February 2, 2008 |
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| Keywords: | Space robot Manipulator Digital control Generalized Jacobian Matrix Tracking control |
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