DYNAMIC CONTROL WITH ADAPTIVE IDENTIFICATION FOR FREE-FLYING SPACE ROBOTS IN JOINT SPACE

被引：16

作者：

SHIN, JH

LEE, JJ

机构：

[1] Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, 305-701

来源：

ROBOTICA | 1994年 / 12卷

关键词：

FREE-FLYING SPACE ROBOTS; JOINT SPACE CONTROL; INVERSE KINEMATICS; DYNAMIC CONTROL; ADAPTIVE IDENTIFICATION;

D O I：

10.1017/S026357470001688X

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, a joint space dynamic control scheme with an adaptive identifier is proposed for free-flying space robots. The control in Cartesian space poses a measurement problem which is critical from a point of view of implementation. In order to overcome this problem, a joint space control is developed. An inverse kinematics algorithm is proposed so as to control free-flying space robots in joint space. Since the inverse kinematic solutions for space robots depend on the dynamic parameters as well as the kinematic parameters, the accurate estimation of all the unknown parameters is essential to make joint space control possible. Therefore, an off-line adaptive parameters identification is performed for free-flying space robots. Simulation results are given to show the validity and the effectiveness of the presented adaptive identification and dynamic control scheme.

引用

页码：541 / 551

页数：11

共 17 条

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