DocumentCode :
3269028
Title :
Dual arm coordination in space free-flying robot
Author :
Yoshida, Kazuya ; Kurazume, Ryo ; Umetani, Yoji
Author_Institution :
Dept. of Mech. Eng. Sci., Tokyo Inst. of Technol., Japan
fYear :
1991
fDate :
9-11 Apr 1991
Firstpage :
2516
Abstract :
The control problem of multiple manipulators installed on a free-flying space robot is presented. Kinematics and dynamics are studied and the generalized Jacobian matrix is formulated for the motion control of a multiarm system. Individual and coordinated control of dual manipulators is discussed. For the coordinated operation, a new method of controlling two arms simultaneously-one arm traces a given path, while the other arm works both to keep the satellite attitude and to optimize the total operation torque of the system-is developed. By means of this control method, an interesting torque optimum behavior is observed and a practical target capture operation is exhibited by computer simulation
Keywords :
aerospace control; dynamics; kinematics; position control; robots; torque control; Jacobian matrix; aerospace control; dual arm coordination; dynamics; free flying space robot; manipulators; motion control; position control; total operation torque optimisation; Arm; Control systems; Jacobian matrices; Manipulator dynamics; Motion control; Orbital robotics; Robot control; Robot kinematics; Satellites; Torque control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
Type :
conf
DOI :
10.1109/ROBOT.1991.132004
Filename :
132004
Link To Document :
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