Tracking and stationkeeping for free-flying robots using sliding surfacesThe 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.
Document ID
19890024634
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Carignan, Craig R. (STX Corp. Lanham, MD, United States)
Akin, David L. (MIT Cambridge, MA, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Subject Category
Cybernetics
Meeting Information
Meeting: 1988 IEEE International Conference on Robotics and Automation