平面宇宙ロボットの2自由度アームによる姿勢制御

抄録

This paper discusses a feedback controller for the planar space robot's attitude and hand position. Two types of feedback controllers are investigated for a robot with a two degrees of freedom arm: control with a sliding plane and control with time-variant terms. The characteristics of the closed system under these controllers are studied using the derived anatytical solutions of the state variables. The effects of the estimation error in the robot's mass parameter are also discussed. Numerical simulations are given to show the validity of the controllers.