Adaptive control of free-floating space robots in Cartesian coordinates

Parlaktuna O., Ozkan M.

ADVANCED ROBOTICS, cilt.18, sa.9, ss.943-959, 2004 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 18 Sayı: 9
  • Basım Tarihi: 2004
  • Doi Numarası: 10.1163/1568553042225732
  • Dergi Adı: ADVANCED ROBOTICS
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.943-959
  • Anahtar Kelimeler: adaptive control, space manipulator, Cartesian space, parameter, identification, computed-torque control, MANIPULATORS, KINEMATICS
  • Eskişehir Osmangazi Üniversitesi Adresli: Evet

Özet

An adaptive control scheme is proposed for the end-effector trajectory tracking control of free-floating space robots. In order to cope with the nonlinear parameterization problem of the dynamic model of the free-floating space robot system, the system is modeled as an extended robot which is composed of a pseudo-arm representing the base motions and a real robot arm. An on-line estimation of the unknown parameters along with a computed-torque controller is used to track the desired trajectory. The proposed control scheme does not require measurement of the accelerations of the base and the real robot arm. A two-link planar space robot system is simulated to illustrate the validity and effectiveness of the proposed control scheme.