Proceedings ArticleDOI
A dynamic control method for free-floating space manipulator in task space
Yili Fu,Fuhai Zhang,Shuguo Wang,Zhongying Chi +3 more
- pp 1230-1235
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TLDR
The presented control scheme guarantees asymptotic tracking of the desired end-effector trajectory and does not require measurement of the joint accelerations.Abstract:
A dynamic control approach in task space is proposed for trajectory tracking problem of free-floating space manipulator without controlling the pose of the spacecraft. Based on the extended manipulator model, the dynamic equation of the system is derived. The dynamic parameters needed by the dynamic control in task space could be estimated by the off-line adaptive identification method. The presented control scheme guarantees asymptotic tracking of the desired end-effector trajectory and does not require measurement of the joint accelerations. Simulation results given show the feasibility and effectiveness of the proposed method.read more
Citations
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Journal ArticleDOI
Constrained mechanical systems modeling and control: A free-floating space manipulator case as a multi-constrained system
E. Jarzbowska,Karol Pietrak +1 more
TL;DR: A modeling framework for constrained multibody systems, for which constraints may arise either as kinematic, task-based, design, control or origin from conservation laws, which encompasses systems subjected to any equality first order constraints.
Journal ArticleDOI
Robust Adaptive Control of a Free-floating Space Robot System in Cartesian Space
TL;DR: This paper presents a novel, robust, adaptive trajectory-tracking control scheme for the free-floating space robot system in Cartesian space and shows that the control scheme can ensure stable tracking of the desired trajectory of the end-effector.
Proceedings ArticleDOI
Neural network robust controllers applied to free-floating space manipulators in task space
TL;DR: In this article, the problem of robust trajectory tracking control for free-floating manipulator systems subject to plant uncertainties and external disturbances is formulated directly in task space and two adaptive techniques are developed considering nonlinear ℋ ∞ controllers and artificial neural networks.
Book ChapterDOI
Adaptive Robust Controller Designs Applied to Free-Floating Space Manipulators in Task Space
TL;DR: The proposal of intelligent adaptive robust controllers to this kind of system becomes very interesting because of the hostile environment where a space robot operates, and the difficulty of taking the system back to reformulate its dynamic model due to these uncertainties.
Proceedings ArticleDOI
Robust adaptive control of free-floating space robot based on fuzzy compensation
TL;DR: An adaptive controller for a free-floating space robot (FFSR) in the presence of kinematic and dynamic model uncertainties is proposed and the fuzzy logic system (FLS) that has the capability to approximate any nonlinear function is used.
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Journal ArticleDOI
Resolved motion rate control of space manipulators with generalized Jacobian matrix
Yoji Umetani,Kazuya Yoshida +1 more
TL;DR: The authors develop a control method for space manipulators based on the resolved motion control concept that is widely applicable in solving not only free-flying manipulation problems but also attitude-control problems.
Journal ArticleDOI
The kinematics, dynamics, and control of free-flying and free-floating space robotic systems
TL;DR: It is suggested that a thorough understanding of the fundamental dynamics of these systems will result in effective solutions to their control problems and three promising methods for planning and controlling the motion of space robotic systems are presented.
Journal ArticleDOI
On the nature of control algorithms for free-floating space manipulators
TL;DR: It is suggested that nearly any control algorithm that can be used for fixed-based manipulators also can be employed in the control of free-floating space manipulator systems, with the additional conditions of estimating or measuring a spacecraft's orientation and of avoiding dynamic singularities.
Journal ArticleDOI
The kinematics and dynamics of space manipulators: the virtual manipulator approach
Z. Vafa,Steven Dubowsky +1 more
TL;DR: With its fixed base, the Virtual Manipulator is shown to have the potential to be an effective aid for the analysis, design, and development of future space manipulator systems.
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