Adaptive control of space robot system with an attitude controlled base
Adaptive control of space robot system with an attitude controlled base
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DOI：
10.1109/robot.1992.219986
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发表时间：
1992-05
期刊：
影响因子：
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通讯作者：
Yangsheng Xu;H. Shum;Jujang Lee;T. Kanade
中科院分区：
文献类型：
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作者：
Yangsheng Xu;H. Shum;Jujang Lee;T. Kanade
作者讨论了带有机器人所附着的姿态控制底座的空间机器人系统的自适应控制。提出了一种联合空间的自适应控制方案。由于大多数任务都是在惯性空间而不是关节空间中指定的，因此作者讨论了与惯性空间中的自适应控制相关的问题，并确定了两个潜在问题：关节轨迹的不可用性（因为惯性空间轨迹的映射依赖于动力学并受到不确定性的影响）以及惯性空间中的非线性参数化。针对平面系统，研究了线性参数化问题，说明了控制器的设计过程，并证明了所提出控制方案的有效性和有效性。>
The authors discuss adaptive control of a space robot system with an attitude-controlled base on which the robot is attached. An adaptive control scheme in joint space is proposed. Since most tasks are specified in inertia space, instead of joint space, the authors discuss the issues associated to adaptive control in inertia space and identify two potential problems, unavailability of the joint trajectory (since mapping from inertia space trajectory is dynamics-dependent and subject to uncertainty), and nonlinear parameterization in inertia space. For a planar system, the linear parameterization problem is investigated, the design procedure of the controller is illustrated, and the validity and effectiveness of the proposed control scheme are demonstrated.>