TY - GEN
T1 - An adaptive control for a free-floating space robot by using inverted chain approach
AU - Abiko, Satoko
AU - Hirzinger, Gerd
PY - 2007
Y1 - 2007
N2 - This paper addresses an adaptive control for free-floating space robots in the presence of model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient formulation. Then, by using the new formulation, we propose an adaptive control for a free-floating space robot to compensate the model uncertainty. For performance improvement, a composite adaptive control by combination of the trajectory error and the reaction force is further discussed. To verify the effectiveness of the proposed methods, a three-dimensional realistic numerical simulation is carried out.
AB - This paper addresses an adaptive control for free-floating space robots in the presence of model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient formulation. Then, by using the new formulation, we propose an adaptive control for a free-floating space robot to compensate the model uncertainty. For performance improvement, a composite adaptive control by combination of the trajectory error and the reaction force is further discussed. To verify the effectiveness of the proposed methods, a three-dimensional realistic numerical simulation is carried out.
KW - Adaptive control
KW - Composite adaptive control
KW - Free-floating space robot
KW - Inverted chain approach
UR - http://www.scopus.com/inward/record.url?scp=45749092324&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=45749092324&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399007
DO - 10.1109/IROS.2007.4399007
M3 - Conference contribution
AN - SCOPUS:45749092324
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2236
EP - 2241
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -