Digital kinematic control of space robot manipulators using transpose of generalized Jacobian matrix

摘要

Deals with a digital kinematic control method of space robot manipulators. The method uses not the inverse of the generalized Jacobian matrix but its transpose and guarantees the kinematic stability of the system in the discrete time domain by using Lyapunov's direct method for difference equations. Computer simulation, where a 3 DOF manipulator mounted on a robot base is selected, is performed. Simulation result demonstrates the effectiveness of the proposed method.