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This letter deals with the problem of controlling a robotic system whose joints have bounded position, velocity, and acceleration/torque. Assuming a discrete-time acceleration control, we compute tight bounds on the current joint accelerations that ensure the existence of a feasible trajectory in the future. Despite the clear practical importance of this issue, no complete and exact solution has been...
This paper proposes an implementation method of a workspace observer (WOB) considering a fluctuation of an equivalent mass matrix. WOB is one of useful methods to achieve robust control systems. The stability and transient response of WOB is influenced from a modeling error of a nominal plant model. For a high performance of WOB, a precise modeling of a nominal plant model should be used. From this...
This paper addresses a time-optimal manipulator control strategy of a free-floating space robot with constraint on reaction torque induced by the manipulator motion. When a manipulator of a space robot is controlled, rotational motion of the base body is induced by the reaction torque. Assuming that reaction wheels are used to cancel the reaction and to stabilize the base attitude, the torque limitation...
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