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Digital control of space robot manipulators with velocity type joint controller using transpose of generalized Jacobian matrix

Research paper by Shinichi Sagara, Yuichiro Taira

Indexed on: 14 Dec '08Published on: 14 Dec '08Published in: Artificial Life and Robotics



Abstract

For free floating space robots having manipulators, we have proposed a discrete-time tracking control method using the transpose of Generalized Jacobian Matrix (GJM). Control inputs of the control method are joint torques of the manipulator. In this paper, the control method is augmented for angular velocity inputs of the joints. Computer simulations have shown the effectiveness of the augmented method.