| 203D1 |
|---|
| Cooperative Control of Some Space Robots Considering Singular Configuration |
| AUTHORS |
| Akiyoshi Taguri, Shinichi Sagara (Kyushu Institute of Technology) |
| ABSTRACT |
| Free-floating space robots with the inertia parameters which are equivalent to inertia parameters of a large object are necessary in order to operate a large object in space. However the inertia parameters of the space robot are restricted by the delivery capacity of a rocket which delivers the space robot to space. So we have studied about a system which end-effector of some space robots grasping a floating object in parallel. The advantage using some space robots is that the floating object is manipulated by changing a number of using robots. In this study,we aim at bringing a control point which is set on the floating object to a target position and posture. The outline of a control method is that each robot can be controlled without information of other robots by dividing the system into each robot and floating object elemants. And we apply resolved motion rate control law to all robots,respectively. However the control law uses inverse matrix of Generalized Jacobian Matrix. When a manipulator of the space robot becomes singular configuration,there is a problem that inverse matrix of Generalized Jacobian Matrix doesn't exist. So we aimed at resolving the problem by suggesting the resolved motion rate control which is considering singular configuration. In this method,a cooperative control of some space robots is enabled. Finally,the validity of the control method is confirmed by computer simulation. |
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Annual Conference 2002