Adaptive control of free-floating space manipulators

Parlaktuna O., Ozkan M.

IEEE International Conference on Systems, Man and Cybernetics, Tennessee, Amerika Birleşik Devletleri, 8 - 11 Ekim 2000, ss.3324-3329 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası:
  • Basıldığı Şehir: Tennessee
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.3324-3329
  • Eskişehir Osmangazi Üniversitesi Adresli: Evet

Özet

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.