MOTION CONTROL OF THREE-LINK SPACE ROBOT

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概要

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• In this paper, we demonstrate a method of motion control for a three-link space robot which has two torque inputs only around the second and third joints. This space robot has redundancy, and the body and the first link of the manipulator are connected freely to minimize the interaction between them. One of the final postures corresponding to the desired position of the end effector is obtained using the concept of the enhanced disturbance map. We set the rotational velocity of the body to zero as the constraint condition, and reconstruct the state equation of the three-link space robot. Based on this state equation, we obtain the feedforward torque input using the final-state control. It is verified from simulation that the proposed method of motion control is useful.

• 一般社団法人日本機械学会の論文

著者

• Nishimura Hidekazu

  Dept. Of Electronics And Mechanical Eng. Chiba University

• Weng Z

  Chiba Univ. Chiba Jpn

• Weng Zhiqiang

  Graduate School Of Science And Technology Chiba University

関連論文

• Final-state control of a two-link cat robot
• MOTION CONTROL OF THREE-LINK SPACE ROBOT

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