Adaptive RMRC for cooperative manipulation of a floating object by two free-based space robots

Author

Sagara, S. ; Hideura, M. ; Katoh, R. ; Yamashita, T. ; Kobayashi, J. ; Ohkawa, F.

Author_Institution

Fac. of Eng., Kyushu Inst. of Technol., Kitakyushu, Japan

Volume

3

fYear

1998

fDate

13-17 Oct 1998

Firstpage

1467

Abstract

This paper deals with an adaptive resolved motion rate control (RMRC) method for a cooperative manipulation of a floating object by two free-based space robots with manipulators. Discussions as for the adaptive estimation are done on the divided generalized Jacobi matrices, which can be derived by system partition of the whole robot system. The method proposed here has an advantage that control algorithm of each robot is same even if a number of robots increases. The validity of the method was successfully confirmed by computer simulation

Keywords

Jacobian matrices; adaptive control; adaptive estimation; aerospace robotics; cooperative systems; manipulators; multi-robot systems; adaptive RMRC; adaptive estimation; cooperative manipulation; divided generalized Jacobi matrices; floating object; free-based Space robots; manipulators; resolved motion rate control; Adaptive control; Computer simulation; Jacobian matrices; Manipulators; Motion control; Orbital robotics; Robot control; Robot kinematics; Space technology; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-4465-0

Type

conf

DOI

10.1109/IROS.1998.724799

Filename

724799