Title :
Computed Torque Control of a Quaternion Based Space Robot
Author :
Isenberg, Douglas R. ; Kakad, Y.P.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of North Carolina at Charlotte, Charlotte, NC
Abstract :
In this paper, the dynamical model for a two-link space robot is developed utilizing quaternion based rotation operators. The model is simulated and is shown to be free of orientation induced singularities. Furthermore, the limitations of computed torque control for this type of system is examined.
Keywords :
aerospace robotics; rotation; torque control; quaternion; rotation operators; space robot; torque control; Cities and towns; Differential equations; Kinetic energy; Modeling; Orbital robotics; Quaternions; Robot kinematics; Space vehicles; Systems engineering and theory; Torque control; control; dynamics; quaternion; robotics; space;
Conference_Titel :
Systems Engineering, 2008. ICSENG '08. 19th International Conference on
Conference_Location :
Las Vegas, NV
Print_ISBN :
978-0-7695-3331-5
DOI :
10.1109/ICSEng.2008.53
