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Digital tracking control of space robots using a transpose of the generalized Jacobian matrix

Research paper by Shinichi Sagara, Yuichiro Taira

Indexed on: 25 Jan '07Published on: 25 Jan '07Published in: Artificial Life and Robotics



Abstract

We have proposed discrete time-control methods using the transpose of the generalized Jacobian matrix (GJM) for free-floating space robots having manipulators. The control methods are robust for singular configurations of robots. Since the methods belong to a class of constant-value control, in this article we propose a digital trajectory tracking control method using the transpose of the GJM. Computer simulations show the effectiveness of the proposed method.