Digital tracking control of space robots using a transpose of the generalized Jacobian matrix

2007 ◽  
Vol 11 (1) ◽  
pp. 82-86 ◽  
Author(s):  
Shinichi Sagara ◽  
Yuichiro Taira
Keyword(s):  
Tracking Control ◽  
Jacobian Matrix ◽  
Space Robots ◽  
Generalized Jacobian ◽  
Generalized Jacobian Matrix ◽  
Digital Tracking

The Generalized Jacobian Matrix and the Manipulators Kinetostatic Properties

2010 ◽  
Author(s):  
Simone Cinquemani ◽  
Hermes Giberti ◽  
Giovanni Legnani
Keyword(s):  
Theoretical Analysis ◽  
Geometrical Structure ◽  
Jacobian Matrix ◽  
Drive System ◽  
Transmission Ratio ◽  
Generalized Jacobian ◽  
Generalized Jacobian Matrix

Manipulator kinetostatic performances are usually investigated considering only the geometrical structure of the robot, neglecting the effect of the drive system. In some circumstances this approach may leads to errors and mistakes. This may happen if the actuators are not identical to each other or when the employed transmission ratio are not identical and/or not constant. The paper introduces the so called “Generalized Jacobian Matrix” obtained identifying an appropriate matrix, generally diagonal, defined in order to: 1. properly weigh the different contributions of speed and force of each actuator. 2. describe the possible non-homogeneous behaviour of the drive system that depends on the configuration achieved by the robot. Theoretical analysis is supported by examples highlighting some of the most common mistakes done in the evaluation of a manipulator kinetostatic properties and how they can be avoided using the generalized jacobian matrix.

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