Title :
Manipulation of a floating object by two space manipulators
Author :
Katoh, Ryozo ; Nakatsuka, Keiichi ; Sagara, Sinichi ; Kobayashi, Jun ; Ohkawa, Fujio
Author_Institution :
Dept. of Mech. & Control Eng., Kyushu Inst. of Technol., Kitakyushu, Japan
Abstract :
This paper deals with manipulation of a floating object by two space robots with manipulators. It is shown in this paper that a total system consisting of two robots and a floating object could be treated as a distributed system, and then a new generalized Jacobian matrix (GJM) is defined. Moreover, it is confirmed that this type of GJM is effective for using adaptive control for decreasing the amount of calculation for the control algorithm
Keywords :
Jacobian matrices; adaptive control; manipulators; adaptive control; distributed system; floating object manipulation; generalized Jacobian matrix; space manipulators; space robots; Adaptive control; Control engineering; Jacobian matrices; Manipulators; Motion control; Orbital robotics; Robot kinematics; Robotic assembly; Space exploration; Space technology;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1997. IECON 97. 23rd International Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-3932-0
DOI :
10.1109/IECON.1997.668523
