A control method is presented that achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. The 15-degree-of-freedom (DOF) system dynamics are divided into two components: a 9-DOF invertible portion and 6-DOF noninvertible portion. A controller is then designed to achieve trajectory tracking of the invertible portion of the system, which consists of the manipulator joint positions and the orientation of the base. The motion of the noninvertible portion is bounded but otherwise unspecified. This portion of the system consists of the position of the robot's base and the position of the reaction wheels. A simulation is presented to demonstrate the effectiveness of the controller. A quadratic polynomial is used to generate the desired trajectory to illustrate the trajectory tracking capability of the controller.
Adaptive control of space-based robot manipulators
Adaptivregelung eines Raumschiffmanipulators
IEEE Transactions on Robotics and Automation ; 7 , 6 ; 828-835
1991
8 Seiten, 15 Quellen
Article (Journal)
English
Adaptive control of space based robot manipulators
NTRS | 1991
|An adaptive control strategy for space based robot manipulators
Tema Archive | 1991
|Adaptive Control of Space Robot Manipulators with Task Space Base on Neural Network
BASE | 2014
|Integrated Adaptive Control of Space Manipulators
Online Contents | 1998
|