201 本体姿勢変動を抑える 3 リンク宇宙ロボットの運動制御(実験的検証)

概要

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In this paper, we deal with a three-link space robot moving in planar space without controls for the base attitude. An experimental setup of the three-link space robot can levitate by use of compressed air. Using d'Alembert principle, it is shown that the state equation of the three-link space robot can be reconstructed as a first-order nonholonomic system with the constraint condition that the rotational angle of the base is set to be zero. The feedforward torque inputs can be obtained by the final-state control in order to bring the end effector of the space robot from the initial position to the objective position in the desired time. We designed a two-degree-of-freedom control consisting of feedback control and feedforward control to follow the obtained trajectory. It is verified from simulation and experiment that the proposed method of motion control is useful.
社団法人日本機械学会の論文
2003-09-15