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 : 第 2 報関節トルク入力型と関節速度入力型の統合制御則

概要

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We have proposed two different digital control methods, where the controlled variables are joint torque and joint angular velocity, of space robot manipulators using the transpose of Generalized Jacobian Matrix. These methods are developed in discrete time domain so that the stability of system can be guaranteed when digital computers are used as controllers. The relation between the two methods, however, is not reported, although the basic concepts of these methods ar similar. This paper presents a novel digital control method, which integrates joint torque control with joint velocity control, of nonredundant space robot manipulators using the transpose of Generalized Jacobian Matrix. The merit of this new control law is to be applicable to both joint's torque controller and joint's velocity controller by only tuning the controller gains. Furthermore, computer simulation of a 6-DOF space robot manipulator is performed. Simulation result demonstrates the effectiveness of the proposed method.
一般社団法人日本機械学会の論文
2001-11-25