Title :
Adaptive control of free-floating space manipulators
Author :
Parlaktuna, Osman ; Özkan, Metin
Author_Institution :
Osmangazi Univ., Eskisehir, Turkey
Abstract :
In this paper, we model a free-floating space manipulator system using Dynamically Equivalent Model (DEM) approach. The DEM is a fixed-base manipulator system and allows us to linearly parameterize the dynamic equations. Using this linearly parameterized dynamic equation, an adaptive control method is developed to control the system in joint space. Simulation results are given to show the validity of the presented identification and control scheme
Keywords :
adaptive control; manipulator dynamics; simulation; adaptive control; adaptive control method; dynamically equivalent model approach; fixed-base manipulator system; free-floating space manipulators; simulation results; Adaptive control; Equations; Joining processes; Kinematics; Kinetic energy; Lagrangian functions; Manipulator dynamics; Symmetric matrices; Tensile stress; Vectors;
Conference_Titel :
Systems, Man, and Cybernetics, 2000 IEEE International Conference on
Conference_Location :
Nashville, TN
Print_ISBN :
0-7803-6583-6
DOI :
10.1109/ICSMC.2000.886518
