抄録
Torque-unit Manipulator (TUM) is a design concept of space manipulator. A device which is called "torque unit" is equipped on each link of a kinematic chain whose joints are all free. The torque unit can be made easily of a rotary actuator and a disc. Position-controllability of the links of TUM has been shown with conventional control laws for manipulators, however the discs in torque units usually have residual angular velocities when the links come to desired positions. The reason is that TUM is a kind of non-holonomic system and hence the angular velocity of each disc at each time depends on the motion history of the links. Controllability of the angular velocities of all the discs to desired values has been considered by planning the motion trajectories of links. Control scheme of two-dimensional N d.o.f. TUM is considered based on the considerations on the controllability and a control scheme is given which consists of two steps.
