Paper Info
Title
Digital tracking control of space robots using a transpose of the generalized Jacobian matrix
Abstract
We have proposed discrete time-control methods using the transpose of the generalized Jacobian matrix (GJM) for free-floating space robots having manipulators. The control methods are robust for singular configurations of robots. Since the methods belong to a class of constant-value control, in this article we propose a digital trajectory tracking control method using the transpose of the GJM. Computer simulations show the effectiveness of the proposed method.
Year
DOI
Venue
2007
10.1007/s10015-006-0405-9
Artificial Life and Robotics
Keywords
DocType
Volume
space robot · manipulator · digital control · generalized jacobian matrix · tracking control,computer simulation,discrete time,digital control
Journal
11
Issue
ISSN
Citations 
1
1614-7456
1
PageRank 
References 
Authors
0.48
1
2
Name
Order
Citations
PageRank
Shinichi Sagara13010.93
Yuichiro Taira2114.64