Title :
Adaptive RMRC for cooperative manipulation of a floating object by two free-based space robots
Author :
Sagara, S. ; Hideura, M. ; Katoh, R. ; Yamashita, T. ; Kobayashi, J. ; Ohkawa, F.
Author_Institution :
Fac. of Eng., Kyushu Inst. of Technol., Kitakyushu, Japan
Abstract :
This paper deals with an adaptive resolved motion rate control (RMRC) method for a cooperative manipulation of a floating object by two free-based space robots with manipulators. Discussions as for the adaptive estimation are done on the divided generalized Jacobi matrices, which can be derived by system partition of the whole robot system. The method proposed here has an advantage that control algorithm of each robot is same even if a number of robots increases. The validity of the method was successfully confirmed by computer simulation
Keywords :
Jacobian matrices; adaptive control; adaptive estimation; aerospace robotics; cooperative systems; manipulators; multi-robot systems; adaptive RMRC; adaptive estimation; cooperative manipulation; divided generalized Jacobi matrices; floating object; free-based Space robots; manipulators; resolved motion rate control; Adaptive control; Computer simulation; Jacobian matrices; Manipulators; Motion control; Orbital robotics; Robot control; Robot kinematics; Space technology; Velocity control;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724799
