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Digital tracking control of space robots using a transpose of the generalized Jacobian matrix

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Abstract

We have proposed discrete time-control methods using the transpose of the generalized Jacobian matrix (GJM) for free-floating space robots having manipulators. The control methods are robust for singular configurations of robots. Since the methods belong to a class of constant-value control, in this article we propose a digital trajectory tracking control method using the transpose of the GJM. Computer simulations show the effectiveness of the proposed method.

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References

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Author information

Authors and Affiliations

  1. Department of Control Engineering, Kyushu Institute of Technology, Tobata, Kitakyushu, 804-8550, Japan

    Shinichi Sagara

  2. Department of Ocean Mechanical Engineering, National Fisheries University, Shimonoseki, Japan

    Yuichiro Taira

Authors
  1. Shinichi Sagara
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  2. Yuichiro Taira
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Corresponding author

Correspondence to Shinichi Sagara.

Additional information

This work was presented in part at the 11th International Symposium on Artificial Life and Robotics, Oita, Japan, January 23–25, 2006

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Cite this article

Sagara, S., Taira, Y. Digital tracking control of space robots using a transpose of the generalized Jacobian matrix. Artif Life Robotics 11, 82–86 (2007). https://doi.org/10.1007/s10015-006-0405-9

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  • DOI: https://doi.org/10.1007/s10015-006-0405-9

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