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Cooperative manipulation of a floating object by some space robots: application of a tracking control method using the transpose of the generalized Jacobian matrix

Research paper by Shinichi Sagara, Yuichiro Taira

Indexed on: 01 Apr '08Published on: 01 Apr '08Published in: Artificial Life and Robotics



Abstract

In future space missions, it is considered that many tasks will be achieved by cooperative motions of space robots. For free-floating space robots with manipulators, we have proposed a digital tracking control method using the transpose of the generalized Jacobian matrix (GJM). In this paper, the tracking control method using the transpose of the GJM is applied to cooperative manipulations of a floating object by space robots. Simulation results show the effectiveness of the control method.