Joint Space Dynamic Control and Adaptive Parameter Identification for Free-Flying Space Robots

Abstract

In this paper, a joint space dynamic control scheme and an adaptive identifier for free-flying space robots are proposed. For the simplification of the measurement in robot control systems, the joint space control is presented. So, an inverse kinematics algorithm is developed to make the joint space control possible in the free-flying space robot system. An adaptive identification scheme is presented for the control of free-flying space robots againt parameter uncertainty and unknown payload. Simulation results are given to show the validity and effectiveness of the proposed control and identification scheme.