2P2-A13 転置一般化ヤコビ行列を用いた宇宙ロボットの軌道追従型ディジタル制御実験(宇宙ロボティクス・メカトロニクス)

概要

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For space robots having manipulators many control methods have been proposed. Most of them use the inverse of Generalized Jacobian Matrix (GJM) which is a coefficient matrix between the end-effector's velocity and the joint velocity of the manipulator. We have proposed discrete time control methods using the transpose of GJM. The control methods use position and orientation errors between the desired and actual values of the end-tip of the manipulator. To obtain higher control performance we have proposed a digital trajectory tracking control method that has variable feedback gains depending on the desired linear and angular velocity. It is considered that joint velocity controllers are also used for space robot manipulators. In this paper, we propose a tracking control method for joint velocity controller. Experimental results using a simulator show the effectiveness of the control method.
一般社団法人日本機械学会の論文
2008-06-06