Adaptive Jacobian Force/Position Tracking of Free-floating Manipulators in Compliant Contact with Uncertain Environment
The problem of force/position tracking of a free-floating manipulator with kinematic and dynamic uncertainties is solved in this paper. The free-floating manipulator is in contact with a compliant surface with uncertain stiffness and position. To deal with all the above uncertainties in the free-floating mode, a passivity-based adaptive controller is designed via online estimates of the unknown parameters. The convergence of force and position error is proved with Lyapunov stability analysis. Simulation results illustrate effectiveness of the proposed algorithm.
Force/position Tracking Free-floating Manipulator Uncertainties Adaptive Controller
Lijiao Wang
Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing, 100190, P. R. China.
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
3137-3142
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）