Adaptive Control for a Torque Controlled Free-Floating Space Robot with Kinematic and Dynamic Model Uncertainty

被引:20
作者
Abiko, Satoko [1 ]
Hirzinger, Gerd [2 ]
机构
[1] Tohoku Univ, Dept Aerosp Engn, Aramaki Aza Aoba 6-6-01, Sendai, Miyagi 980, Japan
[2] German Aerosp Ctr, Inst Robot & Mechatron, D-82334 Wessling, Germany
来源
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年
关键词
Adaptive Control; Model Uncertainty; Inverted Chain Approach; Free-Floating Space Robot; MOTION;
D O I
10.1109/IROS.2009.5354601
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
This paper proposes an adaptive controller for a fully free-floating space robot with kinematic and dynamic model uncertainty. In adaptive control design for the space robot, because of high dynamical coupling between an actively operated arm and a passively moving end-point, two inherent difficulties exist, such as non-linear parameterization of the dynamic equation and both kinematic and dynamic parameter uncertainties in the coordinate mapping from Cartesian space to joint space. The proposed method in this study overcomes the above two issues by paying attention to the coupling dynamics. The proposed adaptive controller does not involve any measurement of acceleration; but it is Mill possible for the system to be linearly parameterized in terms of uncertain parameters and a suitable input torque can be generated in the presence of model uncertainty. A numerical simulation was carried out to confirm the validity of the proposed adaptive control.
引用
收藏
页码:2359 / 2364
页数:6
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