Abstract
On the basis of the momentum conservation equations and recursive least squares with forgetting factor, a new adaptive reactionless planning algorithm is proposed for the reaction null-space motion of the free-floating space manipulator after capturing an unknown rotating target. First, the Lagrange dynamic model of the manipulator is established. Second, the adaptive reactionless planning algorithm is designed to update the null-space solutions for joint rates in online manner. To go to a step further, the desired motion generated by adaptive reactionless planning is produced by driving joints with the PID controller. Finally, on the basis of Lyapunov method, the stability of the proposed scheme is proved theoretically, and the effectiveness of the designed scheme is verified by computer simulation.
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Gao, C., Lin, T., Yu, X. (2023). Adaptive Reactionless Null Space Planning and Control of Free-Floating Space Manipulator After Capturing Unknown Rotating Target. In: Liu, X. (eds) Advances in Mechanism, Machine Science and Engineering in China. CCMMS 2022. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-9398-5_118
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DOI: https://doi.org/10.1007/978-981-19-9398-5_118
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