THE ADAPTIVE CONTROL SCHEMES OF RESOLVED MOTION FOR SPACE BASED MANIPULATOR TO TRACK THE DESIRED TRAJECTORY OF WORKSPACE
CHEN Li1, LIU Yan-zhu2
1. Department of Mechanical Engineering, Fuzhou, University, Fuzhou 350002; 2. Department of Engineering, Shanghai Jiaotong University, Shanghai 200030
陈力, 刘延柱. 漂浮基空间机械臂分解运动控制的增广自适应算法[J]. 机器人, 1999, 21(6): 401-406,414..
CHEN Li, LIU Yan-zhu. THE ADAPTIVE CONTROL SCHEMES OF RESOLVED MOTION FOR SPACE BASED MANIPULATOR TO TRACK THE DESIRED TRAJECTORY OF WORKSPACE. ROBOT, 1999, 21(6): 401-406,414..
Abstract：In this paper, the inverse kinematics of a free floating space manipulator system is studied, and it is shown that the Jacobian matrix is unlinearly dependent on inertial parameters. With the augmentation approach, we demonstrate that the augmented generalized Jacobian matrix can be linearly dependent on inertial parameters. According to the results, when the inertial parameters are unknown, two adaptive control schemes for a free floating space manipulator system to track the desired trajectory of workspace are proposed. A two link planar space manipulator system is simulated to verify both proposed control schemes.
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