Abstract
The present paper proposes a sliding-mode control method that incorporates a strategy to avoid singularities which occur during target capture. The position and attitude of the end-effector of the manipulator are guided using the traditional sliding-mode control method based on the generalized Jacobian. In the proposed control algorithm, when the manipulator approaches a singularity, the attitude/position of the main body of the space robot is controlled such that the manipulability becomes greater. In order to effectively avoid the singularity, the direction in which to move the main body is selected and the acceleration direction of the end-effector is modified taking into account the acceleration of the main body. The effectiveness of the proposed method is verified through numerical simulations.
