【摘 要】
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The control of a free-floating space manipulator system is discussed. With the augmentation approach, the nonlinear parameterization problem of the dynamic equa
【机 构】
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Department of Mechanical Engineering,Department of Engineering Mechanics
论文部分内容阅读
The control of a free-floating space manipulator system is discussed. With the augmentation approach, the nonlinear parameterization problem of the dynamic equations of the space manipulator system is overcome. Based on the results, the robust control scheme for free-floating space manipulator with uncertain payload parameters to track the desired trajectory in jointspace is proposed, and the global convergence of the tracking is verified by using the Lyapunov method. The proposed control scheme is computationally simple, because we choose to make the controller robust to the uncertain inertial parameters rather than explicitly estimate them online. In particular, it needn't control the position and attitude of the floating base. A two-link planar space manipulator system is simulated to verify the control scheme proposed.
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