DocumentCode
2031798
Title
Attitude control of torque unit manipulator-treatment as a nonholonomic system
Author
Osuka, K. ; Nohara, T.
Author_Institution
Dept. of Syst. Sci., Kyoto Univ., Japan
Volume
3
fYear
2000
fDate
2000
Firstpage
2088
Abstract
In this paper, we show a design method of an attitude controller for a torque unit manipulator (TUM) proposed by us as a new type of space manipulator. TUM can be regarded as a kind of nonholonomic system. Therefore, it is difficult to design a controller. The point of this paper is the following. That is, using a special feature of TUM, we design a controller based on trajectory planning. We show the effectiveness of our method through simulations
Keywords
attitude control; control system synthesis; manipulators; TUM; attitude control; controller design; nonholonomic system; torque unit manipulator; trajectory planning; Actuators; Design methodology; Equations; Kinematics; Manipulator dynamics; Metalworking machines; Shafts; TV; Torque; Trajectory;
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.2000.972598
Filename
972598
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