Adaptive Control of Space Robots Using Transpose of Generalized Jacobian Matrix
نویسندگان
چکیده
منابع مشابه
Digital Control of Free Floating Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix 361 Digital Control of Free Floating Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix
Space robots having manipulators are expected to work in future space missions (Xu & Kanade, 1993). Since it is difficult to supply fuel to the robots equipped with rocket motors during manipulation, control methods for free-floating space robots consisting of a base and a manipulator have been proposed (Dubowsky & Papadopulos, 1993; Masutani et al., 1989a;b; Sagara et al., 1998a;b; Shin et al....
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The simplicity of Transpose Jacobian (TJ) control is a significant characteristic of this algorithm for controlling robotic manipulators. Nevertheless, a poor performance may result in tracking of fast trajectories, since it is not dynamics-based. Use of high gains can deteriorate performance seriously in the presence of feedback measurement noise. Another drawback is that there is no prescribe...
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Transpose Jacobian control is one of the simplest algorithms used in manipulator control. However, since it is not dynamics-based, poor performance may occur in applications where high speed tracking is required. Use of high gains also worsens performance, especially in the presence of noise. In addition, lack of a systematic gain selection makes it difficult to apply. In this paper a Modified ...
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Actuators of robot operate in the joint-space while the end-effect or of robot is controlled in the task-space. Therefore, designing a control system for a robotic system in the task-space requires the jacobian matrix information for transforming joint-space to task-space, which suffers from uncertainties. This paper deals with the robust task-space control of electrically driven robot manipula...
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In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....
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ژورنال
عنوان ژورنال: Transactions of the Institute of Systems, Control and Information Engineers
سال: 2006
ISSN: 1342-5668,2185-811X
DOI: 10.5687/iscie.19.109