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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

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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.

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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

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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 14th International Symposium on Artificial Life and Robotics, Oita, Japan, February 5–7, 2009

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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

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

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