Robotics: control, sensing, vision, and intelligence
Robotics: control, sensing, vision, and intelligence
Composite adaptive control of robot manipulators
Automatica (Journal of IFAC)
An indirect adaptive robot controller
Systems & Control Letters
Performance in adaptive manipulator control
International Journal of Robotics Research
Robust adaptive control
On point-to-point motion planning for underactuated space manipulator systems
Robotics and Autonomous Systems
Rigid Body Dynamics Algorithms
Rigid Body Dynamics Algorithms
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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This paper is devoted to investigating the recursive implementation schemes of adaptive control for free-floating space manipulators. Using spatial vector tool and some physical properties that free-floating space manipulators enjoy, we establish a general framework on the seeking of the centripetal and Coriolis matrix that satisfies the skew symmetry requirement. Under this general framework, we propose a recursive adaptive algorithm for free-floating manipulators, which is composed of two parts: the first part is the recursive derivation of the required manipulator control torques, and the second part is the recursive updating of the spacecraft reference velocity and acceleration. To guarantee the uniform positive definiteness of the estimated spacecraft inertia, we present a parameter projection algorithm to project the estimated parameters into some pre-specified parameter region. In the next, we extend the proposed recursive adaptive algorithm to task-space control of free-floating space manipulators. We examine the performance of the proposed recursive adaptive algorithms via numerical simulation on a six-DOF space manipulator.