DocumentCode
2667471
Title
Adaptive control of free-floating space manipulators
Author
Parlaktuna, Osman ; Özkan, Metin
Author_Institution
Osmangazi Univ., Eskisehir, Turkey
Volume
5
fYear
2000
fDate
2000
Firstpage
3324
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man, and Cybernetics, 2000 IEEE International Conference on
Conference_Location
Nashville, TN
ISSN
1062-922X
Print_ISBN
0-7803-6583-6
Type
conf
DOI
10.1109/ICSMC.2000.886518
Filename
886518
Link To Document