Digital control of space robot manipulators with velocity type joint controller using transpose of generalized Jacobian matrix
Tóm tắt
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.
Tài liệu tham khảo
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