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Digital control of space robot manipulators with velocity type joint controller using transpose of generalized Jacobian matrix

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Abstract

For free floating space robots having manipulators, we have proposed a discrete-time tracking control method using the transpose of Generalized Jacobian Matrix (GJM). Control inputs of the control method are joint torques of the manipulator. In this paper, the control method is augmented for angular velocity inputs of the joints. Computer simulations have shown the effectiveness of the augmented method.

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Abbreviations

Σ I :

inertial coordinate frame

Σ B :

base coordinate frame

Σ E :

end-effector coordinate frame

Σ T :

target coordinate frame

r E :

position vector of Σ E with respect to Σ I

r T :

position vector of Σ T with respect to Σ I

ν E :

linear velocity vector of Σ E with respect to Σ I

ω E :

angular velocity vector of Σ E with respect to Σ I

q :

joint angle vector

ϕ * :

angle vector representing the orientation of Σ* with respect to Σ I

E :

identity matrix

I A * :

rotation matrix from Σ* (* = int, T) to Σ I

:

Tilde operator stands for a cross product such that \( \tilde r \) a = r × a

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 and awarded as Best Paper Award at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008

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Sagara, S., Taira, Y. Digital control of space robot manipulators with velocity type joint controller using transpose of generalized Jacobian matrix. Artif Life Robotics 13, 355–358 (2008). https://doi.org/10.1007/s10015-008-0584-7

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  • DOI: https://doi.org/10.1007/s10015-008-0584-7

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