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

27 被引用数 (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.

本文言語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
出版ステータスPublished - 2009 12月 11
外部発表はい
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月 112009 10月 15

出版物シリーズ

名前2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
国/地域United States
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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