• DocumentCode
    2731584
  • Title

    Computed Torque Control of a Quaternion Based Space Robot

  • Author

    Isenberg, Douglas R. ; Kakad, Y.P.

  • Author_Institution
    Dept. of Electr. & Comput. Eng., Univ. of North Carolina at Charlotte, Charlotte, NC
  • fYear
    2008
  • fDate
    19-21 Aug. 2008
  • Firstpage
    59
  • Lastpage
    64
  • Abstract
    In this paper, the dynamical model for a two-link space robot is developed utilizing quaternion based rotation operators. The model is simulated and is shown to be free of orientation induced singularities. Furthermore, the limitations of computed torque control for this type of system is examined.
  • Keywords
    aerospace robotics; rotation; torque control; quaternion; rotation operators; space robot; torque control; Cities and towns; Differential equations; Kinetic energy; Modeling; Orbital robotics; Quaternions; Robot kinematics; Space vehicles; Systems engineering and theory; Torque control; control; dynamics; quaternion; robotics; space;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Systems Engineering, 2008. ICSENG '08. 19th International Conference on
  • Conference_Location
    Las Vegas, NV
  • Print_ISBN
    978-0-7695-3331-5
  • Type

    conf

  • DOI
    10.1109/ICSEng.2008.53
  • Filename
    4616614
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2731584