For space based robots in which the base is free to move, motion planning and control is complicated by uncertainties in the inertial properties of the manipulator and its load. A new adaptive control method is presented for space based robots which achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. A partition is made of the fifteen degree of freedom system dynamics into two parts: a nine degree of freedom invertible portion and a six degree of freedom noninvertible portion. The controller is then designed to achieve trajectory tracking of the invertible portion of the system. This portion consist of the manipulator joint positions and the orientation of the base. The motion of the noninvertible portion is bounded, but unpredictable. This portion consist of the position of the robot's base and the position of the reaction wheel.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Adaptive control of space based robot manipulators


    Contributors:


    Publication date :

    1991-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




    Adaptive control of space-based robot manipulators

    Walker, M.W. / Wee, L.B. | Tema Archive | 1991


    Adaptive Cartesian coordinate control of space based robot manipulators

    Walker, Michael W. / Wee, Liang-Boon | NTRS | 1991


    An adaptive control strategy for space based robot manipulators

    Walker, M.W. / Weel, L.B. | Tema Archive | 1991


    Adaptive Control of Space Robot Manipulators with Task Space Base on Neural Network

    Shuhua, Zhou / Xiaoping, Ye / Xiaoming, Ji et al. | BASE | 2014

    Free access

    Nonlinear Adaptive Output Feedback Control of Flexible-Joint Space Robot Manipulators

    Ulrich, Steve / Sasiadek, Jurek Z. / Barkana, Itzhak | AIAA | 2013