期刊
ADVANCED ROBOTICS
卷 18, 期 9, 页码 943-959出版社
TAYLOR & FRANCIS LTD
DOI: 10.1163/1568553042225732
关键词
adaptive control; space manipulator; Cartesian space; parameter; identification; computed-torque control
类别
An adaptive control scheme is proposed for the end-effector trajectory tracking control of free-floating space robots. In order to cope with the nonlinear parameterization problem of the dynamic model of the free-floating space robot system, the system is modeled as an extended robot which is composed of a pseudo-arm representing the base motions and a real robot arm. An on-line estimation of the unknown parameters along with a computed-torque controller is used to track the desired trajectory. The proposed control scheme does not require measurement of the accelerations of the base and the real robot arm. A two-link planar space robot system is simulated to illustrate the validity and effectiveness of the proposed control scheme.
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