DocumentCode :
1580819
Title :
Sensory feedback control for space manipulators
Author :
MASUTANI, Yasuhiro ; Miyazaki, Fumio ; Arimoto, Suguru
Author_Institution :
Dept. of Mech. Eng., Osaka Univ., Japan
fYear :
1989
Firstpage :
1346
Abstract :
The positioning control problem of the end tips of space manipulators which have no fixed bases is investigated. According to the momentum-conservation law, the system is represented by a nonholonomic model. Thus, the conventional control method for industrial robots, based on a local feedback at each joint, is not applicable when the end tip must be positioned at a floating target. For this problem, the sensory feedback control scheme is based on the artificial potential defined in the sensor coordinate frame. The generalized Jacobian plays an important role in determining the control torque of each joint from the data of the external sensors. This scheme is simple, and the stability of the system is strictly assured. The approximate Jacobian, which needs less computation and less parameter identification, is shown to work well
Keywords :
feedback; position control; robots; space vehicles; end tips; generalized Jacobian; momentum-conservation law; positioning control; sensory feedback control; space manipulators; space vehicles; Electrical equipment industry; Feedback control; Industrial control; Jacobian matrices; Manipulators; Orbital robotics; Robot kinematics; Robot sensing systems; Service robots; Torque control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
Type :
conf
DOI :
10.1109/ROBOT.1989.100167
Filename :
100167
Link To Document :
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