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.1995.525455
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发表时间：
1995-05
期刊：
影响因子：
--
通讯作者：
B. Ma;W. Huo
中科院分区：
文献类型：
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作者：
B. Ma;W. Huo
研究了带有姿态控制基座的空间机器人系统的自适应控制问题。我们讨论了自适应控制在惯性空间中的相关问题，并确定两个潜在的问题：不可用的关节轨迹，和非线性参数化的惯性空间中的系统动力学。两个自适应控制方案，对应的可用性和不可用的关节加速度测量，提出了启发的事实，在关节空间的动力学和运动学都可以线性参数化。所提出的自适应方案保证了零末端执行器的位置跟踪误差，并零末端执行器的速度跟踪误差时，关节加速度测量也得到保证。通过对两连杆平面空间机械臂系统的仿真，验证了所提出控制方案的有效性和正确性。
The paper investigates the adaptive control of the space robot system with an attitude controlled base on which the robot is attached. We discuss the issues associated with adaptive control in inertial space and identify two potential problems: unavailability of joint trajectory, and nonlinear parameterization of system dynamics in inertial space. Two adaptive control schemes, corresponding to availability and unavailability of joint acceleration measurement, are proposed inspired by the fact that the dynamics in joint space and the kinematics can both be linearly parameterized. The proposed adaptive schemes guarantee the zero end-effector position tracking error, and the zero end-effector velocity tracking error is also guaranteed when the joint acceleration measurement is available. The validity and effectiveness of the proposed control schemes are demonstrated by the simulation of two-link planar space manipulator system.