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Resolved motion rate control of space manipulators with generalized Jacobian matrix

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2 Author(s)
Y. Umetani ; Dept. of Mech. Eng. Sci., Tokyo Inst. of Technol., Japan ; K. Yoshida

The authors establish a control method for space manipulators taking dynamical interaction between the manipulator arm and the base satellite into account. The kinematics of free-flying multibody systems is investigated by introducing the momentum conservation law into the formulation and a novel Jacobian matrix in generalized form for space robotic arms is derived. The authors develop a control method for space manipulators based on the resolved motion control concept. The proposed method is widely applicable in solving not only free-flying manipulation problems but also attitude-control problems. The validity of the method is demonstrated by computer simulations with a realistic model of a robot satellite

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IEEE Transactions on Robotics and Automation  (Volume:5 ,  Issue: 3 )