Title :
Attitude control of torque unit manipulator-treatment as a nonholonomic system
Author :
Osuka, K. ; Nohara, T.
Author_Institution :
Dept. of Syst. Sci., Kyoto Univ., Japan
Abstract :
In this paper, we show a design method of an attitude controller for a torque unit manipulator (TUM) proposed by us as a new type of space manipulator. TUM can be regarded as a kind of nonholonomic system. Therefore, it is difficult to design a controller. The point of this paper is the following. That is, using a special feature of TUM, we design a controller based on trajectory planning. We show the effectiveness of our method through simulations
Keywords :
attitude control; control system synthesis; manipulators; TUM; attitude control; controller design; nonholonomic system; torque unit manipulator; trajectory planning; Actuators; Design methodology; Equations; Kinematics; Manipulator dynamics; Metalworking machines; Shafts; TV; Torque; Trajectory;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.972598
