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Adaptive Control of Space Based Robot ManipulatorsFor space based robots in which the base is free to move, motion planning and control is complicated by uncertainties in the inertial properties of the manipulator and its load. A new adaptive control method is presented for space based robots which achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. A partition is made of the fifteen degree of freedom system dynamics into two parts: a nine degree of freedom invertible portion and a six degree of freedom noninvertible portion. The controller is then designed to achieve trajectory tracking of the invertible portion of the system. This portion consist of the manipulator joint positions and the orientation of the base. The motion of the noninvertible portion is bounded, but unpredictable. This portion consist of the position of the robot's base and the position of the reaction wheel.
Document ID
19910011336
Acquisition Source
Johnson Space Center
Document Type
Conference Paper
Authors
Michael W Walker
(University of Michigan Ann Arbor, United States)
Liang-Boon Wee
(University of Michigan Ann Arbor, United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1991
Publication Information
Publication: Fourth Annual Workshop on Space Operations Applications and Research (SOAR 90)
Publisher: National Aeronautics and Space Administration
Volume: 1
Subject Category
Mechanical Engineering
Report/Patent Number
NASA-CP-3103-VOL-1
Meeting Information
Meeting: 4th Annual Workshop on Space Operations Applications and Research (SOAR)
Location: Albuquerque, NM
Country: US
Start Date: June 26, 1990
End Date: September 28, 1990
Sponsors: National Aeronautics and Space Administration, United States Air Force
Accession Number
91N20649
Distribution Limits
Public
Copyright
Portions of document may include copyright protected material.
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