The authors use the concept of sliding surfaces for generating two types of tracking control laws for a free-flying robot engaged in zero-gravity assembly tasks. Suction control, developed elsewhere for controlling manipulators with stationary bases, is used here to track workspace trajectories for manipulators mounted on mobile platforms. Zone control is formulated for the purpose of stationkeeping a robot maneuvering unit during payload manipulation. Experimental results are described for tests performed on an air-bearing robot tracking payload trajectories along a glass surface.
Tracking and stationkeeping for free-flying robots using sliding surfaces
1988 IEEE International Conference on Robotics and Automation ; 1988 ; Philadelphia, PA, United States
1988-01-01
Conference paper
No indication
English
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