Skip to main content
Springer Nature Link
Log in

Cooperative manipulation of a floating object by some space robots with joint velocity controllers: application of a tracking control method using the transpose of the generalized Jacobian matrix

  • Original Article
  • Published:
Artificial Life and Robotics Aims and scope Submit manuscript

Abstract

We have studied the cooperative manipulation of floating object by several space robots. For these cooperative motions, we have reported that a tracking control method using the transpose of the generalized Jacobian matrix (GJM) can be utilized for robots with joint torque controllers. For cooperative motions by some robots with joint velocity controllers, we proposed a tracking control method using the transpose of the GJM. Simulation results show the effectiveness of the proposed control method.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

Abbreviations

r 0 :

position vector of the center of mass of the object

p int :

position vector of the point of interest on the object

p T :

position vector of the target of the point of interest

ω 0 :

angular velocity vector of the center of mass of the object

ω int :

angular velocity vector of the point of interest

i h :

number of link or joint i of robot h

p h i :

position vector of joint i h

r h i :

position vector of the center of mass of link i h

k h i :

unit vector indicating the joint axis direction of joint i h

r g :

position vector of the center of mass of the system

r h g :

position vector of the center of mass of robot h

ϕ h i :

relative angle of joint i h

m 0 :

mass of the object

m h i :

mass of link i h

I 0 :

inertia tensor of the object

I h i :

inertia tensor of link i h

E :

identity matrix

Σ I :

inertial coordinate frame

Σint :

point of interest of the coordinate frame

Σ T :

target coordinate frame

I A*:

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

\( \{ \cdot \sim \} \) :

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

References

  1. Katoh R, Nakatsuka K, Sagara S, et al (1997) Manipulation of a floating object by two space manipulators. Proceedings of the 23rd IEEE Industrial Electronics Society International Conference, New Orleans, pp 1397–1402

  2. Sagara S, Hideura M, Katoh R, et al (1998) Adaptive RMRC for cooperative manipulation of a floating object by two free-based space robots. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, pp 1467–1472

  3. Xu Y, Kanade T (eds) (1993) Space robotics: dynamics and control. Kluwer, Dordrecht

    Google Scholar 

  4. Yoshida K, Umetani Y (1993) Control of space robot manipulators with generalized Jacobian matrix. In: Xu Y, Kanade T (eds) Space robotics: dynamics and control. Kluwer, Dordrecht, pp 165–204

    Google Scholar 

  5. Sagara S, Taira Y (2007) Digital tracking control of space robots using the transpose of the generalized Jacobian matrix. Artif Life Robotics 11:82–86

    Article  Google Scholar 

  6. Sagara S, Taira Y (2008) Cooperative manipulation of a floating object by some space robots: application of a tracking control method using the transpose of the GJM. Artif Life Robotics 12:138–141

    Article  Google Scholar 

  7. Sagara S, Taira Y (2008) Digital control of space robot manipulators with a velocity-type joint controller using the transpose of the generalized Jacobian matrix. Artif Life Robotics 13:355–358

    Article  Google Scholar 

  8. Yoshida K, Kurazume R, Umetani Y (1991) Coordinated control of multiple manipulators in space robots (in Japanese). J Robotics Soc Jpn 9:718–726

    Google Scholar 

  9. Godler I, Honda H, Ohnishi K (2002) Design guidelines for disturbance observer’s filter in discrete time. Proceedings of the 7th International Workshop on Advanced Motion Control, Maribor, pp 390–395

Download references

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
    View author publications

    You can also search for this author inPubMed Google Scholar

  2. Yuichiro Taira
    View author publications

    You can also search for this author inPubMed Google Scholar

Corresponding author

Correspondence to Shinichi Sagara.

Additional information

This work was presented in part at the 14th International Symposium on Artificial Life and Robotics, Oita, Japan, February 5–7, 2009

About this article

Cite this article

Sagara, S., Taira, Y. Cooperative manipulation of a floating object by some space robots with joint velocity controllers: application of a tracking control method using the transpose of the generalized Jacobian matrix. Artif Life Robotics 14, 392–396 (2009). https://doi.org/10.1007/s10015-009-0693-y

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10015-009-0693-y

Key words