転置一般化ヤコビ行列を用いた宇宙ロボットのディジタル制御

概要

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A sensory feedback control method of space robot manipulators using the transpose of Generalized Jacobian Matrix has been proposed. Even if the robot system becomes in a singular configuration, the method can avoid being out of control because not the inverse of Generalized Jacobian Matrix but its transpose is used. However, the method was developed in continuous time domain. In practical systems, digital computers are generally used as controller ; therefore, the stability of system must be guaranteed in discrete time domain. In this paper, we propose the digital version which guarantees the stability of system in discrete time domain by using Lyapunov's direct method for difference equations. Furthermore, computer simulation, where a 6 DOF manipulator mounted on a robot base is selected, is performed. Simulation result demonstrates the effectiveness of the proposed method.
社団法人日本機械学会の論文
2001-02-25