The paper first derives kinematics of the space robot system with an attitude-controlled base to which the robot is attached, receives the generalized Jacobian. Desired trajectory of the robot end-effector in inertial space was planed based on the movement of the object. The kinematics and the dynamics can be linearized by a set of combined parameters, the update law of the parameters was designed respectively. Adaptive control was adopted in joint space. When the dynamic parameters are unknown, the algorithm can guarantee asymptotic stability of the system; and the attitude of base was fixed when the end-effector tracked the desired trajectory to capture the object. Planar two-joint space robot is simulated to verify the validity and effectiveness of the algorithm.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive control for capture object of Space robot


    Contributors:
    Wang Haoying, (author) / Wu Hongxin, (author) / Liang Bin, (author)


    Publication date :

    2000-01-01


    Size :

    423044 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Adaptive Control for Capture Object of Space Robot

    Wang, H. / Wu, H. / Liang, B. | British Library Conference Proceedings | 2000


    SPACE OBJECT CAPTURE

    REED JAIME | European Patent Office | 2020

    Free access

    Space object capture

    REED JAIME | European Patent Office | 2018

    Free access

    Adaptive compliant controller for space robot stabilization in post-capture phase

    Xia, Pengcheng / Luo, Jianjun / Wang, Mingming | SAGE Publications | 2021


    Coordinated Control of Object Capture and Spacecraft Attitude with an Experimental Free-Flyer Space Robot

    Marchesi, M. / International Astronomical Federation | British Library Conference Proceedings | 1998