Digital kinematic control of space robot manipulators using transpose of generalized Jacobian matrix

Author

Taira, Yuichiro ; Sagara, Shinichi ; Katoh, Ryozo

Author_Institution

Dept. of Control Eng., Kyushu Inst. of Technol., Kitakyushu, Japan

Volume

1

fYear

2000

fDate

2000

Firstpage

596

Abstract

Deals with a digital kinematic control method of space robot manipulators. The method uses not the inverse of the generalized Jacobian matrix but its transpose and guarantees the kinematic stability of the system in the discrete time domain by using Lyapunov´s direct method for difference equations. Computer simulation, where a 3 DOF manipulator mounted on a robot base is selected, is performed. Simulation result demonstrates the effectiveness of the proposed method

Keywords

Jacobian matrices; aerospace robotics; digital control; digital simulation; manipulator kinematics; stability; 3 DOF manipulator; Lyapunov direct method; computer simulation; difference equations; digital kinematic control; discrete time domain; kinematic stability; robot base; space robot manipulators; transposed generalized Jacobian matrix; Computational modeling; Computer simulation; Difference equations; Digital control; Jacobian matrices; Kinematics; Manipulators; Orbital robotics; Robot control; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE

Conference_Location

Nagoya

Print_ISBN

0-7803-6456-2

Type

conf

DOI

10.1109/IECON.2000.973217

Filename

973217