An adaptive control of a nonholonomic space robot
An adaptive control of a nonholonomic space robot
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非完整空间机器人的自适应控制
DOI：
10.1109/cdc.1997.652418
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发表时间：
1997
期刊：
影响因子：
--
通讯作者：
M. Koga
中科院分区：
文献类型：
--
作者：
T. Nakagawa;H. Kiyota;M. Sampei;M. Koga
本文提出了一种基于时间状态形式的非完整空间机器人自适应控制器的设计方法，该机器人由底座、手臂和两个重物组成。我们假设底座和手臂在底座的重心处连接，并且手臂的中心和两个重量相同。假设权重同步移动。
This paper presents a design method of an adaptive controller based on time-state form for a nonholonomic space robot which consists of a base, an arm and two weights. We assume that the base and the arm are connected at the center of gravity of the base and that the center of the arm and two weights are the same. The weights are assumed to move synchronously.