Title :
Simultaneous control of manipulator and antenna mounted on free-flying robot in space
Author :
Miyazaki, Y. ; Katoh, R.
Author_Institution :
Dept. of Control Eng., Kyushu Inst. of Technol., Japan
Abstract :
Deals with the simultaneous control of 2 DOF manipulator and antenna mounted on free-flying robot, which can move only on 2-dimensional plane. An extended generalized Jacobian matrix is defined for this robot. On the basis of this matrix and the resolved motion rate control, simultaneous control method is proposed. Computer simulations show the usefulness of the proposed control method
Keywords :
aerospace control; control system CAD; mobile robots; aerospace control; antenna; digital simulation; free-flying robot; generalized Jacobian matrix; manipulator; simultaneous control; Communication system control; Computer simulation; Jacobian matrices; Manipulators; Motion control; Orbital robotics; Robot kinematics; Robot sensing systems; Space stations; Space technology;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174755
