An Adaptive Control for a Free-Floating Space Robot by Using Inverted Chain Approach

Abiko, Satoko; Hirzinger, Gerd

doi:10.5772/6421

Cited by 7 publications

(8 citation statements)

References 7 publications

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“…However, due to the lack of a fixed base, the space robot can be expressed by the motion of the end effector and that of the robotic joints in the same structure as in the conventional expression. This scheme is termed inverted chain approach [6].…”

Section: Modeling Of Free-floating Space Robotmentioning

confidence: 99%

“…However, the proposed method does not explicitly solve the nonlinear parameterization problem associated with the computed torque control for the freefloating space robots. Abiko and Hirzinger [6] developed an alternative adaptive controller by using a velocity-based closed-loop controller for generating a torque input. Using this control input, one does not encounter the nonlinear parameterization problem, but tuning gain parameters for the torque input is still a key issue and explicit description of the torque input in the adaptive control method is desired.…”

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confidence: 99%

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Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertainty

Abiko

Hirzinger

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper proposes an adaptive controller for a fully free-floating space robot with kinematic and dynamic model uncertainty. In adaptive control design for the space robot, because of high dynamical coupling between an actively operated arm and a passively moving end-point, two inherent difficulties exist, such as non-linear parameterization of the dynamic equation and both kinematic and dynamic parameter uncertainties in the coordinate mapping from Cartesian space to joint space. The proposed method in this study overcomes the above two issues by paying attention to the coupling dynamics. The proposed adaptive controller does not involve any measurement of acceleration; but it is still possible for the system to be linearly parameterized in terms of uncertain parameters and a suitable input torque can be generated in the presence of model uncertainty. A numerical simulation was carried out to confirm the validity of the proposed adaptive control.

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Section: Modeling Of Free-floating Space Robotmentioning

confidence: 99%

mentioning

confidence: 99%

Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertainty

Abiko

Hirzinger

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Parlaktuna and Ozkan [5] proposed a joint space adaptive tracking control scheme with an online parameter identification process different from the offline adaptive identification scheme given by Shin and Lee [6]. Abiko et al [7] proposed an inverted chain approach based adaptive control for operational space trajectory tracking of free-floating manipulator. However, these adaptive schemes can only handle parameter uncertainties, not existing disturbance and other unmodeled nonlinearities.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Adaptive Disturbance-Observer-Based Robust Tracking Control of Electrically Driven Free-Floating Space Manipulator

Chu

Cui

Sun

2014

IEEE Systems Journal

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This paper is concerned with the robust tracking control of an electrically driven free-floating space manipulator with internal parameter uncertainty and external disturbance. An adaptive disturbance-observer-based output feedback control is employed to provide a solution to the control problem, wherein the parameters are tuned online by using fuzzy logic systems to compensate for equivalent disturbance, and the stability condition of the closed-loop system is also derived. The suggested method does not require exact prior knowledge of the system and needs a few parameters to tune. The simulation results of a two-link electrically driven space manipulator show the effectiveness and applicability of the proposed control scheme.

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“…The kinematics and dynamics of attitude-controlled space robots were developed in [16], together with an adaptive control scheme applied to the system. In [17], the so-called inverted chain method was presented to describe SMs kinematics in task space, adopted to address issues such as adaptive control of space robots.…”

Section: Introductionmentioning

confidence: 99%

New kinematic notation and automatic generation of symbolic dynamics equations for space robots

Zhang

Jia

et al. 2014

Proceedings of the 33rd Chinese Control Conference

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To verify and evaluate the performance of a space robot controller, kinematics and dynamics of the system have to be formed beforehand for computer simulation. The paper is devoted to develop a new kinematic notation for space robots and to come up with an open source of Matlab subroutines for the propose of obtaining the proper dynamics equations of space robots in symbolic forms automatically. For the new kinematic notation, we will present the general form and two special cases. It is then demonstrated through an example the advantages such as flexible assignment of frames on space robots, being able to describe multi-DOF joint and achieve a consistent description for multi-arm space robots. For the second part, we adopt the Lagrangian Formulation for forming the procedures to automatically generate the dynamics equations of space robots in symbolic forms. An example is then provided to demonstrate the effectiveness of closed-loop simulation adopting the obtained symbolic equations.

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An Adaptive Control for a Free-Floating Space Robot by Using Inverted Chain Approach

Cited by 7 publications

References 7 publications

Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertainty

Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertainty

Fuzzy Adaptive Disturbance-Observer-Based Robust Tracking Control of Electrically Driven Free-Floating Space Manipulator

New kinematic notation and automatic generation of symbolic dynamics equations for space robots

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