A Cartesian coordinate robot controller is presented for use when the mass properties of a load are unknown. The mass, center of mass, and moments of inertia of the end-effector are assumed unknown. All other inertial properties of the robot are assumed known. This knowledge of the parameters allows the control of the end-effector in a way similar to the use of reaction wheels to control the orientation of a satellite. This is the primary result of the controller. The basic method of the controller is similar to that used for terrestrial-based robot manipulators. The controller is demonstrated using a new simulation algorithm which is based on Hamilton's form of the equations of motion.
Adaptive Cartesian coordinate control of space based robot manipulators
1991 American Control Conference ; 1991 ; Boston, MA, United States
01.01.1991
Aufsatz (Konferenz)
Keine Angabe
Englisch
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