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2000 Fiscal Year Final Research Report Summary

Distributed Control of Floating Space Robot Manipulators

Research Project

Project/Area Number 10650245
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionKyushu Institute of Technology

Principal Investigator

KATOH Ryozo  Kyushu Institute of Technology, Department of Control Engineering, Professor, 工学部・機械知能工学科, 教授 (20148761)

Co-Investigator(Kenkyū-buntansha) SAGARA Shinichi  Kyushu Institute of Technology, Department of Control Engineering, Assistant Professor, 工学部・機械知能工学科, 助教授 (50235199)
Project Period (FY) 1998 – 2000
KeywordsSpace Robot Manipulator / Distributed Control / Resolved Motion Rate Control / Identification of System Parameters
Research Abstract

In future space explorations or space developments, it is expected that space robot with manipulators will do risky works on behalf of human astronauts. This project research deals with development of control methods, by which some space manipulators are controlled in distributed form. This method has some advantage properties ;
(1) Even if a number of robots is changed, the control algorithm of the robot is not changed.
(2) Calculation time by this method does not depend to the number of the robots.
These properties could be verified not only theoretically but also experimentally using simulator made by us. Here, two type robot systems are examined ; one of them is a system in which some robot manipulators grasp an object in parallel (we call this parallel robot system), another is one in which they grasp in series (series robot system). In both systems, theses properties can be confirmed to be kept.
Moreover, in this project, the following sub-researches were done ;
(1) Development of space robot manipulators using transpose of generalized inverse matrix
(2) Development of control methods of underwater robot manipulator
(3) Control of some robots
These researches also gave important knowledge and valuable experimental data to us. We would like to enhance the abilities of the floating robot with manipulators by integrating knowledge and experience obtained in this project research.

  • Research Products

    (40 results)

All Other

All Publications (40 results)

  • [Publications] J.Kobayashi,F.Ohkawa and R,.Katoh: "Analysis of a Workspace and a Manipulability Measure in Operations by Two Space Robots"Proc.of 8th Workshop on Astrodynamics and Flight Mechanics. 101-106 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] S.Sagara,T.Unno,Y.Taira and R.Katoh: "Digital Sensory Feedback Control for Space Manipulators"Proc.of 4th Japan-France/2nd Asia-Europe Congress on Mechatronics. 249-254 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] R.Katoh,M.Shen,S.Sagara,J.Kobayashi and F.Ohkawa: "Cooperative Manipulation of a Floating Object by Some Robots with Manipulator : Characteristics as a Distributed System"Proc.of 4th Japan-France/2nd Asia-Europe Congress on Mechatronics,. 261-266 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] S.sagara,Y.Taira,R.Katoh,T.Yamashita,F.Ohkawa and T.Suehiro: "Digital Adaptive Control of Space Manipulator Having Input Constraints"Proc.of 1998 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS'98). 1449-1454 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] S.Sagara,M.Hideura,R.Katoh,T.Yamashita,.Kobayashi and F.Ohkawa: "Adaptive RMRC for Cooperative Manipulation of a Floating Object by Two Free-Based Space Robots"Proc.of 1998 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS'98). 1467-1472 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 小林順,加藤了三,大川不二夫: "複数台の宇宙ロボットによる浮遊物体の制御"日本機械学会論文集C編. 64巻,628号. 4710-4716 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] M.Oya,R.Katoh,S.Sagara,F.Ohkawa and T.Suehiro: "Non-Regressor Based Adaptive Control of Rigid-Link Electrically-Driven Robot Manipulators"Proc.of 3rd Int.Conf.on Industrial Automation. 8.1-8.4 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] J.Kobayashi,M.Shen,F.Ohkawa and R.Katoh: "Manipulation of a Floating Object by Several Space Robots-Case of Parallel System"Proc.of 9th Workshop on Astrodynamics and Flight Mechanics. 247-252 (1299)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] S.Sagara,T.Tanikawa,M.Tamura and R.Katoh: "Experiments of a Floating Underwater Robot with 2 Link Manipulator"Proc.of 5th Int. Symp.on Artificial Life and Robotics. 367-370 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] R.Lai,T.Kobayashi,F.Ohkawa,and R.Katoh: "Control of Robot Manipulators without Gravity Compensation"Proc.of 4^<th> Asia-Pacific Conf.On Control and Measurement. 247-250 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Y.Taira,S.Sagara and R.Katoh: "Discrete-time Adaptive Control of Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix,"Proc.of 10th Workshop on Astrodynamics and Flight Mechanics. (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Y.Taira,S.sagara and R.Katoh: "Digital Kinematic Control of Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix"Proc.of 26th IEEE Int.Conf.on Industrial Electronics, Control and Instrumentation (IECON-2000). 596-601 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Y.Taira,S.Sagara and R.Katoh: "Digital Adaptive Control of Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix",Proc.of 2000 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS2000). (CD-ROM). 6 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] C-Y.Su,M.Oya,R.Katoh and H.Han: "Stabilization and Force Control of Uncertain Nonholonomic Mechanical Systems Via Sliding Mode Control",Proc.of 6th IEEE Int.Workshop on Variable Structure Systems. 157-166 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] S.sagara,T.danjoh,M.Tamura,R.Katoh: "Resolved Motion Rate Control of a Free-Floating Underwater Robot with horizontal Planar 2-Link Manipulator",Proc.of 6th Int.Symp on Artificail Life and Robotics. 113-116 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] T.Tamura,S.Sagara,R.Katoh: "Control of Manipulator Mounted on Floating Underwater Robot while Maintaining Vehicle Attitude"Proc.of 6th Int.Symp.on Artificial Life and Robotics. 121-125 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] M.Wada,M.Oya,R.Katoh and H.Honda: "A Simple Robust Tracking Controller for Robot Manipulators Using Only Joint Position Measurements",Proc.of 6th Int.Symp.on Artificial Life and Robotics. 443-446 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 平雄一郎,相良慎一,加藤了三: "転置一般化ヤコビ行列を用いた宇宙ロボットのディジタル制御"日本機械学会論文集C編. Vol.66,No.[].. 6 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 加藤了三,相良慎一: "九州工大VBLにおけるロボット研究"日本ロボット学会誌. Vol.19,No.2. 175-180 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] J.Kobayashi,R.Katoh,and F.Ohkawa: "Construction of Cooperative Space Robot Systems and Analysis of Their Working Abilityies"Journal of Robotics and Mechanics. (印刷中).

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] J.Kobayashi, F.Ohkawa and R.Katoh: "Analysis of a Workspace and a Manipulability Measure in Operations by Two Space Robots"Proc.of 8th Workshop on Astrodynamics and Flight Mechanics. 101-106 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S,Sagara, T.Unno, Y.Taira and R.Katoh: "Digital Sensory Feedback Control for Space Manipulators"Proc.of 4th Japan-France/2nd Asia-Europe Congress on Mechatronics. 249-254 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] R.Katoh, M.Shen, S.Sagara, J.Kobayashi and F.Ohkawa: "Cooperative Manipulation of a Floating Object by Some Space Robots with Manipulator : Characteristics as a Distributed System"Proc.of 4th Japan-France/2nd Asia-Europe Congress on Mechatronics. 261-266 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S.Sagara, Y.Taira, R.Katoh gnd T.Yamashita, F.Ohkawa and T.Suehiro: "Digital Adaptive Control of Space Manipulator Having Input Constraints"Proc.of 1998 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS'98). 1449-1454 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S.Sagara, M.Hideura, R.Katoh, T.Yamashita, J.Kobayashi and F.Ohkawa: "Adaptive RMRC for Cooperative Manipulation of a Floating Object by Two Free-Based Space Robots"Proc.of 1998 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS'98). 1467-1472 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] J.Kobayashi, F.Ohkawa and R.Katoh: "Handling of a Floating Object by Several Space Robots"Trans.on the Japan Society of Mechanical Engineers, C series. Vol.64, No.628 (in Japanese). 4710-4716 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] M.Oya, R.Katoh, S.Sagara, F.Ohkawa and T.Suehiro: "Non-Regressor Based Adaptive Control of Rigid-Link Electrically-Driven Robot Manipulators"Proc.of 3rd Int.Conf.on Industrial Automation. 8.1-8.4 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] J.Kobayashi, M.Shen, F.Ohkawa and R.Katoh: "Manipulation of a Floating Object by Several Space Robots -Case of Parallel System-"Proc.of 9th Workshop on Astrodynamics and Flight Mechanics. 247-252 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S.Sagara, T.Tanikawa, M.Tamura and R.Katoh: "Experiments of a Floating Underwater Robot with 2 Link Manipulator"Proc.of 5th Int.Symp.on Artificial Life and Robotics. 367-370 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] R.Lai, T.Kobayashi, F.Ohkawa, R.Katoh: "Control of Robot Manipulators without Gravity Compensation"Proc.of 4th Asia-Pacific Conf.on Control and Measurement. 247-250 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Taira, S.Sagara and R.Katoh: "Discrete-time Adaptive Control of Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix"Proc.of 10th Workshop on Astrodynamics and Flight Mechanics. 231-236 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Taira, S.Sagara and R.Katoh: "Digital Kinematic Control of Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix"Proc.of 26th IEEE Int.Conf.on Industrial Electronics, Control and Instrumentation (IECON-2000). 596-601 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Taira, S.Sagara and R.Katoh: "Digital Adaptive Control of Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix"Proc.of 2000 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS2000). (CD-ROM). 6 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] C-Y.Su, M.Oya, R.Katoh and H.Han: "Stabilization and Force Control of Uncertain Nonholonomic Mechanical Systems Via Sliding Mode Control"Proc.of 6th IEEE Int.Workshop on Variable Structure Systems. 157-166 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] S.Sagara, T.Danjoh, M.Tamura, R.Katoh: "Resolved Motion Rate Control of a Free-Floating Underwater Robot with Horizontal Planar 2-Link Manipulator"Proc.of 6th Int.Symp.on Artificial Life and Robotics. 113-116 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T.Tamura, S.Sagara, R.Katoh: "Control of Manipulator Mounted on Floating Underwater Robot while Maintaining Vehicle Attitude"Proc.of 6th Int.Symp.on Artificial Life and Robotics. 121-125 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] M.Wada, M.Oya, R.Katoh and H.Honda: "A Simple Robust Tracking Controller for Robot Manipulators Using Only Joint Position Measurements"Proc.of 6th Int.Symp.on Artificial Life and Robotics. 443-446 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Taira, S.Sagara and R.Katoh: "Digital Control of Space Robot Using Transpose of Generalized Jacobian Matrix"Transactions on the Japan Society of Mechanical Engineers, C series. Vol.67, No.654 (in Japanese). 436-442 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] R.Katoh and S.Sagara: "Robotics Researches in Kyushu Institute of Technology"Journal of the Robotics Society of Japan. Vol.19, No.2 (in Japanese). 175-180 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] J.Kobayashi, R.Katoh, and F.Ohkawa: "Construction of Cooperative Space Robot Systems and Analysis of Their Working Abilityies"Journal of Robotics and Mechanics. (in publication).

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 2002-03-26  

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