Abstract
This paper describes a retraction control scheme for a space manipulator after grasping a floating object in space. Many control methods for a pre-retracting phase have been proposed by other authors. However those for a retracting phase have been very few, and the essential problem which an object is moving had not been treated so far. Firstly we divide a retracting process into four phases, and clearly show the problems to be resolved. Secondly we derive a new kinematic equation which relates angular velocities of joints with the integral of force and moment at an end-effector in space. Thirdly a force control method is proposed by using that important equation, and the possibility to grasp within the admissible error is proved effective: This control method corresponds to a velocity control for an end-effector feedbacking the integral of force and moment considering the derived kinematic equation. Fourthly we apply that control method to a retraction control, and demonstrate the stability of the proposed control scheme. Finally the effectiveness of the proposed retraction control method is shown by computer simulations.
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