720 3 リンク宇宙ロボットの位置決め制御

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タイトル別名
  • Positioning Control of A Three-Link Space Robot

説明

If the manipulator is moved in space, the body of the space structure will move also. This paper deals with the 3-link space robot with redundancy whose angular momentum is conserved. First, we formulate the nonholonomic condition and the state equation that has torque inputs by using the Lagrange-d'Alembert principle. Then, we obtain one of final states by using the disturbance map. Next, we show the validity of the final-state control with respect to the positioning control of the end-effector without any moving of the space body by simulation.

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