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Abstract:
The
coordinated control of the base attitude and arms of space-based robot
system is studied. With the ideas of augmentation approach, the
difficulties of nonlinear parameterization of the system dynamic
equations were overcome. Based on the results proposed above, the
adaptive and robust control schemes of coordinated motion for both the
base and manipulator to track the desired trajectory are developed. A
two-link planar space-based robot system is simulated to verify the
proposed control schemes.
Key words:
Space-based robot system Coordinated motion Adaptive control
Robust control
CLC No: TP241
国家自然科学基金、福州大学校内科研基金资助项目. Received 20000718,
received in revised form 20010326
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