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dc.contributor.authorParlaktuna, Osman
dc.contributor.authorCook, George, E.
dc.contributor.authorStrauss, Alvin, M.
dc.contributor.authorFernadez, Kenneth, R.
dc.date.accessioned2019-10-21T20:41:05Z
dc.date.available2019-10-21T20:41:05Z
dc.date.issued1993
dc.identifier.issn0921-8890
dc.identifier.urihttps://dx.doi.org/10.1016/0921-8890(93)90006-X
dc.identifier.urihttps://hdl.handle.net/11421/20647
dc.description.abstractParlaktuna, O., Cook, G.E., Strauss, A.M. and Fernandez, K., Jacobian control for space manipulator, Robotics and Autonomous Systems, 11 (1993) 35-44. To control robot or teleoperated manipulators in space, the motion of the satellite (which is actually the base of the manipulator) which will move due to the force exerted by the moving manipulator, must be considered. Most of the algorithms developed to control a robot manipulator assume that the manipulator is connected to a fixed base. Since the satellite moves due to the motion of the robot manipulator, the control schemes developed for fixed-base manipulators cannot be used for space robots and telerobots. In this paper, using a modified resolved motion rate control and angular momentum conservation law, a generalized Jacobian matrix is derived to control the space manipulator. It is shown that a manipulator controlled in this manner follows a prescribed path independent of the motion of the satelliteen_US
dc.language.isoengen_US
dc.relation.isversionof10.1016/0921-8890(93)90006-Xen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.titleJacobian control for space manipulatoren_US
dc.typearticleen_US
dc.relation.journalRobotics and Autonomous Systemsen_US
dc.contributor.departmentAnadolu Üniversitesi, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümüen_US
dc.identifier.volume11en_US
dc.identifier.issue1en_US
dc.identifier.startpage35en_US
dc.identifier.endpage44en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US]


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