Authors: Tomoaki Hashimoto
Addresses: Department of Systems Innovation, Osaka University, Osaka, Japan
Abstract: The subject of this paper is a space robot that has a manipulator arm mounted on a satellite body. This paper investigates the problem for stabilising both the main body angle of a space robot and the joint angles of a manipulator independently and simultaneously. Two control methods are proposed here for the solutions of this problem. One is a time-varying feedback controller and the other is a time-invariant feedback controller. The former controller has the theoretical success against the topological obstruction, but has the practical disadvantage. In contrast, the latter controller has the practical usefulness in spite of the theoretical incompleteness. It is shown that each control method has the robustness against the presence of the parametric uncertainties such as model errors and signal noises. The effectiveness of each controller is verified by numerical simulations.
Keywords: nonholonomic systems; nonholonomic robots; space robots; motion control; robust control; robot control; manipulator arms; simulation; time-varying feedback control; time-invariant feedback control.
International Journal of Computer Applications in Technology, 2011 Vol.41 No.3/4, pp.262 - 268
Received: 08 May 2021
Accepted: 12 May 2021
Published online: 25 Sep 2011 *