Quantcast

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

Research paper by Shinichi Sagara, Yuichiro Taira

Indexed on: 15 Dec '09Published on: 15 Dec '09Published in: Artificial Life and Robotics



Abstract

We have studied the cooperative manipulation of floating object by several space robots. For these cooperative motions, we have reported that a tracking control method using the transpose of the generalized Jacobian matrix (GJM) can be utilized for robots with joint torque controllers. For cooperative motions by some robots with joint velocity controllers, we proposed a tracking control method using the transpose of the GJM. Simulation results show the effectiveness of the proposed control method.