Abstract
The control problem of multiple manipulators installed on a free-flying space robot is presented. Kinematics and dynamics are studied and the generalized Jacobian matrix is formulated for the motion control of a multiarm system. Individual and coordinated control of dual manipulators is discussed. For the coordinated operation, a new method of controlling two arms simultaneously--one arm traces a given path, while the other arm works both to keep the satellite attitude and to optimize the total operation torque of the system--is developed. By means of this control method, an interesting torque optimum behavior is observed and a practical target capture operation is exhibited by computer simulation.
| Original language | English |
|---|---|
| Pages (from-to) | 2516-2521 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| Publication status | Published - 1991 |
| Externally published | Yes |
| Event | Proceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA Duration: Apr 9 1991 → Apr 11 1991 |
All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering