転置一般化ヤコビ行列を用いた宇宙ロボットのディジタル制御

• 平 雄一郎

• 相良 慎一

• 加藤 了三

書誌事項

タイトル別名

• Digital Control of Space Robot Using Transpose of Generalized Jacobian Matrix.
• テンチ イッパンカ ヤコビ ギョウレツ オ モチイタ ウチュウ ロボット ノ ディジタル セイギョ

抄録

A sensory feedback control method of space robot manipulators using the transpose of Generalized Jacobian Matrix has been proposed. Even if the robot system becomes in a singular configuration, the method can avoid being out of control because not the inverse of Generalized Jacobian Matrix but its transpose is used. However, the method was developed in continuous time domain. In practical systems, digital computers are generally used as controller ; therefore, the stability of system must be guaranteed in discrete time domain. In this paper, we propose the digital version which guarantees the stability of system in discrete time domain by using Lyapunov's direct method for difference equations. Furthermore, computer simulation, where a 6 DOF manipulator mounted on a robot base is selected, is performed. Simulation result demonstrates the effectiveness of the proposed method.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 67 (654), 436-442, 2001

  一般社団法人 日本機械学会

キーワード

• Space Robot
• Digital Control
• Manipulator
• transpose of Generalized Jacobian Matrix
• Asymptotic Stability

詳細情報

• CRID: 1390282681305879936
• NII論文ID: 130004233962
• NII論文ID: 110002386024
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.67.436
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 5681622
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I5681622
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/67/654/67_654_436/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可