DocumentCode :
2327932
Title :
Experiments in nonlinear adaptive control of multi-manipulator free-flying robots
Author :
Chen, Vincent W. ; Cannon, Robert H., Jr.
Author_Institution :
Real-Time Innovations Inc., Sunnyvale, CA, USA
fYear :
1994
fDate :
8-13 May 1994
Firstpage :
2213
Abstract :
This paper gives an overview of the nonlinear adaptive control work that was completed at the Stanford University Aerospace Robotics Laboratory (ARL) in December 1992. A new task-space adaptive control framework was developed that is able to provide continuously full adaptation capability to complex robot systems in all modes of operation. This framework consists of an inverse-dynamics adaptation algorithm that has been generalized beyond simple joint or endpoint control, a new system modelling technique to simplify the generation of a system model to ease greatly the implementation of the adaptive control algorithm, and the development of the task-space concept to allow operators to specify a robot´s task, which can include payload positions, endpoint positions, and joint configurations as subsets. The task-space adaptive control framework has been experimentally demonstrated on the ARL Multi-Manipulator, Free-Flying Space Robot performing capture and manipulation of free-floating objects with unknown inertial properties-without requiring human assistance
Keywords :
adaptive control; aerospace control; mobile robots; nonlinear control systems; ARL Multi-Manipulator; Free-Flying Space Robot; Stanford University Aerospace Robotics Laboratory; complex robot systems; endpoint positions; inverse-dynamics adaptation algorithm; joint configurations; multimanipulator free-flying robots; nonlinear adaptive control; payload positions; task-space adaptive control framework; Adaptive control; Aerospace control; Equations; Laboratories; Manipulators; Mathematical model; Orbital robotics; Programmable control; Robotic assembly; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
Type :
conf
DOI :
10.1109/ROBOT.1994.350956
Filename :
350956
Link To Document :
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