Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertainty

Satoko Abiko, Gerd Hirzinger

研究成果: Conference contribution

23 引用 (Scopus)

抄録

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 still 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.

元の言語English
ホスト出版物のタイトル2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
ページ2359-2364
ページ数6
DOI
出版物ステータスPublished - 2009 12 11
外部発表Yes
イベント2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
継続期間: 2009 10 112009 10 15

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
United States
St. Louis, MO
期間09/10/1109/10/15

Fingerprint

Dynamic models
Kinematics
Torque
Robots
Controllers
Parameterization
Computer simulation
Uncertainty

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

これを引用

Abiko, S., & Hirzinger, G. (2009). Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertainty. : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 2359-2364). [5354601] https://doi.org/10.1109/IROS.2009.5354601

Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertainty. / Abiko, Satoko; Hirzinger, Gerd.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 2359-2364 5354601.

研究成果: Conference contribution

Abiko, S & Hirzinger, G 2009, Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertainty. : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354601, pp. 2359-2364, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 09/10/11. https://doi.org/10.1109/IROS.2009.5354601
Abiko S, Hirzinger G. Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertainty. : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 2359-2364. 5354601 https://doi.org/10.1109/IROS.2009.5354601
Abiko, Satoko ; Hirzinger, Gerd. / Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertainty. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. pp. 2359-2364
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