Dynamic tool vectors for robo-centric control

Author

Carignan, Craig R. ; Akin, David L. ; Lane, J. Corde

Author_Institution

Dept. of Aerosp. Eng., Maryland Univ., College Park, MD, USA

Volume

2

fYear

2000

fDate

2000

Firstpage

1188

Abstract

A new paradigm is explored for controlling free-flying robots using a robot-centered coordinate strategy. The use of “dynamic” tool vectors for controlling manipulator motion is key to the development of this new approach. Variable tool vectors allow the arms to function in multiple roles, including camera positioning and self-maneuvering of the vehicle. In addition, these concepts are embodied in a resolved-rate architecture for controlling manipulators in robo-centric operations. The ranger neutral buoyancy vehicle, currently under development at the University of Maryland Space Systems Laboratory, is used to illustrate the application of this approach

Keywords

aerospace robotics; manipulator dynamics; motion control; position control; Space Systems Laboratory; University of Maryland; camera positioning; coordinate control; free-flying robots; manipulator dynamics; motion control; ranger neutral buoyancy vehicle; robo-centric control; self-maneuvering; Arm; Cameras; Laboratories; Manipulator dynamics; Motion control; Robot control; Robot kinematics; Robot vision systems; Space vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.844760

Filename

844760