Adaptive Cartesian coordinate control of space based robot manipulatorsA Cartesian coordinate robot controller is presented for use when the mass properties of a load are unknown. The mass, center of mass, and moments of inertia of the end-effector are assumed unknown. All other inertial properties of the robot are assumed known. This knowledge of the parameters allows the control of the end-effector in a way similar to the use of reaction wheels to control the orientation of a satellite. This is the primary result of the controller. The basic method of the controller is similar to that used for terrestrial-based robot manipulators. The controller is demonstrated using a new simulation algorithm which is based on Hamilton's form of the equations of motion.
Document ID
19920046593
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Walker, Michael W. (NASA Headquarters Washington, DC United States)
Wee, Liang-Boon (Michigan, University Ann Arbor, United States)