Trajectory Tracking Control in Inertia Space of Dual-Arm Space Robot System

Author

Jinghua Ge ; Li Chen

Author_Institution

Coll. of Mech. Eng., Fuzhou Univ., China

fYear

2006

fDate

7-11 Aug. 2006

Firstpage

1543

Lastpage

1546

Abstract

The coordinated control scheme of the dual-arm space robot without controlling the base position is discussed. The dynamics equations of the system and the generalized Jacobian matrix are derived. Based on the results, the nonlinear feedback control for the dual-arm space robot is proposed. When the dynamics model and parameters are accurately known, the proposed control scheme can effectively control space manipulator and the base to complete the desired motion in inertia space, without controlling the base´s position of the space robot, the simulation result demonstrate that the proposed scheme is efficient.

Keywords

Jacobian matrices; aerospace robotics; dexterous manipulators; feedback; manipulator dynamics; motion control; nonlinear control systems; position control; coordinated motion control; dual-arm space robot system; dynamics equations; generalized Jacobian matrix; inertia space; nonlinear feedback control; space manipulator; trajectory tracking control; Control systems; Jacobian matrices; Manipulator dynamics; Motion control; Nonlinear dynamical systems; Nonlinear equations; Orbital robotics; Robot control; Robot kinematics; Trajectory; coordinated motion; dual-arm space robot system; dynamics equation; nonlinear feedback control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2006. CCC 2006. Chinese

Conference_Location

Harbin

Print_ISBN

7-81077-802-1

Type

conf

DOI

10.1109/CHICC.2006.280751

Filename

4060346