This paper deals with a digital adaptive control for a space manipulator mounted on a Free-Flying Robot (FFR), after capturing an unknown object. Most of the control methods are based on the supposition that all physical parameters of the FFR system are known. If the end-effector catches an unknown object, the physical parameters of the robot are changed, and the control performance gets worse. In this paper, we propose the digital adaptive control by using a discretized kinematic equation and a simplified Generalized Jacobian Matrix. Computer simulation made it clear that the control performance can be improved by using the proposed method.
Digital adaptive control of a manipulator mounted on free-flying robot in space
Adaptive Digitalregelung des Gelenkarmes eines im All freischwebenden Roboters
1995
5 Seiten, 4 Bilder, 5 Quellen
Conference paper
English
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