Adaptive control of space-based robot manipulators

Author

Walker, Michael W. ; Wee, Liang-Boon

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA

Volume

7

Issue

6

fYear

1991

fDate

12/1/1991 12:00:00 AM

Firstpage

828

Lastpage

835

Abstract

A control method is presented that achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. The 15-degree-of-freedom (DOF) system dynamics are divided into two components: a 9-DOF invertible portion and 6-DOF noninvertible portion. A controller is then designed to achieve trajectory tracking of the invertible portion of the system, which consists of the manipulator joint positions and the orientation of the base. The motion of the noninvertible portion is bounded but otherwise unspecified. This portion of the system consists of the position of the robot´s base and the position of the reaction wheels. A simulation is presented to demonstrate the effectiveness of the controller. A quadratic polynomial is used to generate the desired trajectory to illustrate the trajectory tracking capability of the controller

Keywords

adaptive control; aerospace control; control system synthesis; dynamics; polynomials; position control; robots; adaptive control; manipulators; position control; quadratic polynomial; space-based robot; system dynamics; trajectory tracking; Adaptive control; Control systems; Equations; Kinematics; Manipulator dynamics; Mobile robots; Orbital robotics; Robot control; Trajectory; Wheels;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.105391

Filename

105391