Title :
Tracking and stationkeeping for free-flying robots using sliding surfaces
Author :
Carignan, Craig R. ; Akin, David L.
Author_Institution :
STX Corp., Lanham, MD, USA
Abstract :
The authors use the concept of sliding surfaces for generating two types of tracking control laws for a free-flying robot engaged in zero-gravity assembly tasks. Suction control, developed elsewhere for controlling manipulators with stationary bases, is used to track workspace trajectories for manipulators mounted on mobile platforms. Zone control is formulated for the purpose of stationkeeping a robot maneuvering unit during payload manipulation. Experimental results are described for tests performed on an air-bearing robot tracking payload trajectories along a glass surface
Keywords :
assembling; manufacturing computer control; position control; robots; variable structure systems; air-bearing robot; free-flying robots; manipulators; payload trajectory tracking; sliding surfaces; stationary bases; stationkeeping; suction control; workspace trajectories; zero-gravity assembly tasks; zone control; Control systems; Error correction; Extraterrestrial measurements; Manipulators; Nonlinear control systems; Payloads; Robotic assembly; Robots; Sliding mode control; Trajectory;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12185
