Quaternion based computed-torque and feed-forward tracking controllers for a space robot

Author

Isenberg, Douglas R. ; Kakad, Y.P.

Author_Institution

Dept.of Electr. & Comput. Eng., Univ. of North Carolina at Charlotte, Charlotte, NC, USA

fYear

2010

fDate

7-9 March 2010

Firstpage

232

Lastpage

236

Abstract

This paper presents both a quaternion based computed-torque trajectory tracking controller and a feed-forward trajectory tracking controller for a two-link space robot. First, the general form of the dynamical equations for a space robot modeled with quaternions is presented. The computed-torque controller is then presented and the stability of the resulting closed-loop system is analyzed via the second method of Lyapunov. This is followed by a discussion of the feed-forward controller. Tracking simulations are then presented and analyzed.

Keywords

Lyapunov methods; aerospace robotics; closed loop systems; differential algebraic equations; feedforward; manipulator dynamics; position control; torque control; Lyapunov stability method; closed loop system; dynamical equations; feedforward tracking control; quaternion based computed-torque controller; trajectory tracking control; two-link space robot; Aerospace materials; Computational modeling; Control systems; Feedforward systems; Manipulators; Orbital robotics; Quaternions; Robot kinematics; Stability analysis; Trajectory; Aerospace Systems; Guidance & Navigation Systems; Robotics;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory (SSST), 2010 42nd Southeastern Symposium on

Conference_Location

Tyler, TX

ISSN

0094-2898

Print_ISBN

978-1-4244-5690-1

Type

conf

DOI

10.1109/SSST.2010.5442828

Filename

5442828