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.


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    Title :

    Digital adaptive control of a manipulator mounted on free-flying robot in space


    Additional title:

    Adaptive Digitalregelung des Gelenkarmes eines im All freischwebenden Roboters


    Contributors:
    Yamamoto, T. (author) / Kobayashi, J. (author) / Katoh, R. (author) / Ohkawa, F. (author)


    Publication date :

    1995


    Size :

    5 Seiten, 4 Bilder, 5 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





    Control of Free-Flying Space Robot Manipulator Systems

    R. H. Cannon / S. M. Rock / J. How | NTIS | 2000




    Control of Free-Flying Space Robot Manipulator Systems

    Cannon, Robert H., Jr. / Rock, Stephen M. / How, Jonathan | NTRS | 2000