Abstract
In future space missions, it is considered that many tasks will be achieved by cooperative motions of space robots. For free-floating space robots with manipulators, we have proposed a digital tracking control method using the transpose of the generalized Jacobian matrix (GJM). In this paper, the tracking control method using the transpose of the GJM is applied to cooperative manipulations of a floating object by space robots. Simulation results show the effectiveness of the control method.
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Abbreviations
- r 0 :
-
position vector of center of mass of object
- p int :
-
position vector of point of interest on object
- p T :
-
position vector of target of point of interest
- v 0 :
-
linear velocity vector of center of mass of object
- v int :
-
linear velocity vector of point of interest
- ω0 :
-
angular velocity vector of center of mass of object
- ωint :
-
angular velocity vector of point of interest
- i h :
-
number of link or joint i of robot h
- p i h :
-
position vector of joint i h
- r h i :
-
position vector of center of mass of link i h
- k h i :
-
unit vector indicating joint axis direction of joint i h
- r g :
-
position vector of center of mass of system
- r g h :
-
position vector of center of mass of robot h
- ϕ h i :
-
relative angle of joint i h
- m 0 :
-
mass of object
- m h i :
-
mass of link i h
- I 0 :
-
inertia tensor of object
- I i h :
-
inertia tensor of link i h
- E :
-
identity matrix
- ∑ I :
-
inertial coordinate frame
- ∑int :
-
point of interest coordinate frame
- ∑T :
-
target coordinate frame
- I A * :
-
rotation matrix from ∑* (* = int, T) to ∑ I
- \( \widetilde{\{ \cdot \} } \) :
-
Tilde operator stands for a cross-product such that \( \tilde ra = r \times a \)
References
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Sagara, S., Taira, Y. Cooperative manipulation of a floating object by some space robots: application of a tracking control method using the transpose of the generalized Jacobian matrix. Artif Life Robotics 12, 138–141 (2008). https://doi.org/10.1007/s10015-007-0455-7
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DOI: https://doi.org/10.1007/s10015-007-0455-7