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Manipulation of a floating object by two space manipulators
Description
This paper deals with manipulation of a floating object by two space robots with manipulators. It is shown in this paper that a total system consisting of two robots and a floating object could be treated as a distributed system, and then a new generalized Jacobian matrix (GJM) is defined. Moreover, it is confirmed that this type of GJM is effective for using adaptive control for decreasing the amount of calculation for the control algorithm.
Journal
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- Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066)
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Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066) 3 1397-1402, 2002-11-22
IEEE
