| 203D2 |
|---|
| An Experiment in Velocity Type Digital Control Using Transpose of Generalized Jacobian Matrix |
| AUTHORS |
| Takanori Hirota, Shinichi Sagara (Kyushu Institute of Technology) Yuichiro Taira (National Fisheries University) |
| ABSTRACT |
| We have proposed digital control methods using the transpose of the Generalized Jacobian Matrix (GJM) for space robot manipulators uncontrolled base. The control methods are divided two different methods. In the first method, the joint torque of the manipulator is used as the control input. Masutani et al. and the authors have proposed the continuous-time and the discrete-time control methods for space robot manipulators, respectively. In the second method, the joint velocity of the manipulator is selected as the control input. As the merit of these methods, it is mentioned that an input doesn¡Çt diverge as the inverse of the GJM used in the resolved motion rate and the resolved accelerated control method causes during the robot system at a singular configuration, and that stability of the control system is ensured when we use digital computer as the controller. We have validated effectiveness of the proposed velocity input type digital control method when the robot system becomes singular configuration. In this paper, we validate effectiveness of the case that end-effector of manipulator has the strange mass object. The experimental results demonstrate the effectiveness of the control method. |
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Annual Conference 2002