An adaptive control for a free-floating space robot by using inverted chain approach

This paper addresses an adaptive control for free-floating space robots in the presence of model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient formulation. Then, by using the new formulation, we propose an adaptive control for a free-floating space robot to compensate the model uncertainty. For performance improvement, a composite adaptive control by combination of the trajectory error and the reaction force is further discussed. To verify the effectiveness of the proposed methods, a three-dimensional realistic numerical simulation is carried out.