Sensory feedback control for space manipulators.

Masutani, Yasuhiro; Miyazaki, Fumio

doi:10.7210/jrsj.7.6_647

Cited by 35 publications

(55 citation statements)

References 5 publications

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“…However, this was only an analytical factor to characterize the coupling rather than having any application for control purposes. The generalized Jacobian comprises the conventional Jacobian of computational complexity OðnÞ with additional terms dependent on the masses, inertias and geometric structures of each link which generate the additional complexity [39]. The conventional Jacobian could be used to derive a transposed Jacobian which yielded satisfactory results when the platform-manipulator mass ratios were in excess of *5.…”

Section: Review Of the Literature On Space-based Manipulator Kinematimentioning

confidence: 99%

“…Such freefloating systems are defined by their lack of a dedicated spacecraft attitude control system. The generalized Jacobian, owing to its dynamic nature, is complex to compute with a complexity of Oðn 2 Þ and so not conducive to real-time operation onboard spacerated processors [39]. A dynamic coupling coefficient may be defined to quantify the relation between the endeffector velocity and base velocity [40] …”

Section: Review Of the Literature On Space-based Manipulator Kinematimentioning

confidence: 99%

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An engineering approach to the dynamic control of space robotic on-orbit servicers

Ellery¹

2004

Proceedings of the Institution of Mechanical Engineers, Part G:

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Robotic on-orbit servicing is the key to the commercial development of a space robotics infrastructure. A major technical difficulty has been the problem of control of the robotic manipulators mounted onto a freeflying platform in space. The problem of control is directly related to the fact that manipulator motions exert reaction effects on the mounting spacecraft. A solution to this problem is outlined-one in which no fuel is expended and that demands no excessive computational resources that would otherwise preclude real-time performance.

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Section: Review Of the Literature On Space-based Manipulator Kinematimentioning

confidence: 99%

Section: Review Of the Literature On Space-based Manipulator Kinematimentioning

confidence: 99%

An engineering approach to the dynamic control of space robotic on-orbit servicers

Ellery¹

2004

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…As can be inferred from the leading superscript, all these quantities are defined w.r.t. the base frame {b} (see also Masutani et al, 1989). We should note that the coupling inertia submatrix M vm , contributing to translational motion of the CRB, is identical to the system CoM Jacobian, up to a multiplicative constant (the total mass).…”

Section: Momentum-based Derivationmentioning

confidence: 99%

“…Significant research has been carried out to address the above control objectives. Representative works in the field of freefloating space robots are Masutani et al (1989); Papadopoulos and Dubowsky (1991); Torres and Dubowsky (1992). Inertial damping has been exploited to deal with vibration suppression of flexible-base robots (Lee and Book, 1990;Hanson and Tolson, 1995;Torres et al, 1996) and with so-called macro-micro manipulator systems (Book and Lee, 1989;Yoshikawa et al, 1993;Sharf, 1996;Parsa et al, 2005).…”

Section: Introductionmentioning

confidence: 99%

Reaction Null Space of a multibody system with applications in robotics

Nenchev

2013

Mech. Sci.

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Abstract. This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other unfixed-base systems, e.g. flexible-base and macro/mini robot systems, as well as to the balance control problem of humanoid robots. The paper also includes most recent results about complete dynamical decoupling of the end-link of a fixed-base robot, wherein the end-link is regarded as the unfixed-base. This interpretation is shown to be useful with regard to motion/force control scenarios. Respective implementation results are provided.

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“…This paper deals with the relative rigid body motion control of a moving target object with respect to the camera frame. This control problem is standard and important, and has gained much attention of researchers for many years [3][4][5][6][7]. The control objective is to track the moving target object in a threedimensional workspace by image information.…”

Section: Introductionmentioning

confidence: 99%