Adaptive control of free-floating space manipulators

被引：0
|
作者：
Parlaktuna, O [1 ]
Özkan, M [1 ]
机构：
[1] Osmangazi Univ, Eskisehir, Turkey
来源：
SMC 2000 CONFERENCE PROCEEDINGS: 2000 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOL 1-5 | 2000年
关键词：
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we model a free-floating space manipulator system using Dynamically Equivalent Model (DEM) approach The DEM is a fixed-base manipulator system and allows us to linearly parameterize the dynamic equations. Using this linearly parameterized dynamic equation an adaptive control method is developed to control the system In joint space. Simulation results are given to show the validity of the presented identification and control scheme.
引用
收藏
页码：3324 / 3329
页数：6
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