Adaptive control of free-floating space manipulators

Parlaktuna O., Ozkan M.

IEEE International Conference on Systems, Man and Cybernetics, Tennessee, United States Of America, 8 - 11 October 2000, pp.3324-3329, (Full Text) identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • City: Tennessee
  • Country: United States Of America
  • Page Numbers: pp.3324-3329
  • Eskisehir Osmangazi University Affiliated: Yes

Abstract

In this paper, we model a free-floating space manipulator system using Dynamically Equivalent Model (DEM) approach The DEM is a fixed-base manipulator system and allows us to linearly parameterize the dynamic equations. Using this linearly parameterized dynamic equation an adaptive control method is developed to control the system In joint space. Simulation results are given to show the validity of the presented identification and control scheme.