An adaptive control for a free-floating space robot by using inverted chain approach

Satoko Abiko, Gerd Hirzinger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

55 Citations (Scopus)

Abstract

This paper addresses an adaptive control for free-floating space robots in the presence of model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient formulation. Then, by using the new formulation, we propose an adaptive control for a free-floating space robot to compensate the model uncertainty. For performance improvement, a composite adaptive control by combination of the trajectory error and the reaction force is further discussed. To verify the effectiveness of the proposed methods, a three-dimensional realistic numerical simulation is carried out.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages2236-2241
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 2007 Oct 292007 Nov 2

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

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Keywords

  • Adaptive control
  • Composite adaptive control
  • Free-floating space robot
  • Inverted chain approach

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Abiko, S., & Hirzinger, G. (2007). An adaptive control for a free-floating space robot by using inverted chain approach. In IEEE International Conference on Intelligent Robots and Systems (pp. 2236-2241). [4399007] https://doi.org/10.1109/IROS.2007.4399007