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.
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Abbreviations
- Σ I :
-
inertial coordinate frame
- Σ B :
-
base coordinate frame
- Σ E :
-
end-effector coordinate frame
- Σ T :
-
target coordinate frame
- r E :
-
position vector of Σ E with respect to Σ I
- r T :
-
position vector of Σ T with respect to Σ I
- ν E :
-
linear velocity vector of Σ E with respect to Σ I
- ω E :
-
angular velocity vector of Σ E with respect to Σ I
- q :
-
joint angle vector
- ϕ * :
-
angle vector representing the orientation of Σ* with respect to Σ I
- E :
-
identity matrix
- I A * :
-
rotation matrix from Σ* (* = int, T) to Σ I
-
: -
Tilde operator stands for a cross product such that \( \tilde r \) a = r × a
:References
Xu Y, Kanade T (eds) (1993) Space robotics: dynamics and control. Kluwer Academic
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 transpose of generalized Jacobian matrix. J Artif Life Robotics 11:82–86
Sagara S, Taira Y (2008) Cooperative manipulation of a floating object by some space robots: application of a tracking control method using transpose of the generalized Jacobian matrix. J Artif Life Robotics 12:138–141
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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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Sagara, S., Taira, Y. Digital control of space robot manipulators with velocity type joint controller using transpose of generalized Jacobian matrix. Artif Life Robotics 13, 355–358 (2008). https://doi.org/10.1007/s10015-008-0584-7
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DOI: https://doi.org/10.1007/s10015-008-0584-7