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

Artificial Life and Robotics - Tập 12 - Trang 138-141 - 2008
Shinichi Sagara1, Yuichiro Taira2
1Department of Control Engineering, Kyushu Institute of Technology, Tobata, Kitakyushu, Japan
2Department of Ocean Mechanical Engineering, National Fisheries University, Shimonoseki, Japan

Tóm tắt

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.

Tài liệu tham khảo

Xu Y, Kanade T (eds) (1993) Space robotics: dynamics and control. Kluwer, Dordrecht. Yoshida K, Umetani Y (1993) Control of space manipulators with generalized Jacobian matrix. In: Xu Y, Kanade T (eds) space rabotics: dynamics and control. Kluwer, Dordrecht, pp 165–204 Taira Y, Sagara S, Katoh R (2001) Digital control of a space robot using the transpose of the generalized Jacobian matrix (in Japanese). Trans JSME Ser C 67(654):436–442 Taira Y, Sagara S, Katoh R (2001) 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 (in Japanese). Trans JSME Ser C 67(663):3540–3547 Taira Y, Sagara S (2005) A design of digital adaptive control systems for space robot manipulators using a transpose of the generalized Jacobian matrix. J Artif Life Robotics 9:41–45 Sagara S, Taira Y (2007) Digital tracking control of space robots using the transpose of the generalized Jacobian matrix. J Artif Life Robotics 11:82–86 Katoh R, Nakatsuka K, Sagara S, et al. (1997) Manipulation of a floating object by two space manipulators. Proceedings of the 23rd IEEE Industrial Electronics Society International Conference, New Orleans, pp 1397–1402 Sagara S, Hideura M, Katoh R, et al. (1998) Adaptive RMRC for cooperative manipulation of a floating object. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, pp 1467–1472 Yoshida K, Kurezume R, Umetani Y (1991) Coordinated control of multiple manipulators in space robots (in Japanese). J Robotics Soc Jpn 9:718–726