Adaptive Control of Spacecraft-referenced Endpoint Motion of Dual-arm Space Robot System

摘要：

In this paper, we investigate an adaptive control of a dual-arm space robot system whose bases attitude was controlled. The dynamic equations of the space robot system are derived through the Lagranian formulation. The obtained dynamic equation can be represented by a group of inertial parameters. Based on the above results and with the augmentation approach, the adaptive control scheme of spacecraft-referenced end-point motion of space robot system with unknown parameters was developed. The numerical simulation is carried out in this paper,which confirms the controller proposed is feasible and effective.

关键词： Space Robot System Adaptive Control Spacecraft-reference Augmentation Approach

作者: Hong Zhaobin Chen Li

作者单位: College of Mechanical Engineering, Fuzhou University No.523, Gongye Road, Fuzhou, Fujian, China 350002

会议类型: 国际会议

会议名称: The 11th International Space Conference of Pacific-basin Societies(第11届环太平洋国际航天会议)

会议地点: 北京

会议语种:英文

页码: 185-191

在线出版日期: 2007-05-16（万方平台首次上网日期，不代表论文的发表时间）