Title :
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
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;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.973217
