Abstract
In this paper, we discuss adaptive control of a space robot system with an attitude controlled base on which the robot is attached. We at first derive the system kinematic and dynamic equations based on Lagrangian dynamics and linear momentum conservation law. Using the dynamic model developed, we discuss the problem of linear parameterization in terms of dynamic parameters, and have found that in joint space the dynamics can be linearized by a set of combined dynamic parameters, but in inertia space linear parameterization is impossible in general. Then we propose an adaptive control scheme in joint space which has been shown effective and feasible for the cases where unknown or unmodeled dynamics must be considered, such as in the tasks of transport an unknown payload, or catching a moving object.
The scheme avoids the use of joint acceleration measurement, inversion of inertial matrix, high gain feedback, and considerable computation cost, and at meantime, is also applicable for the fixed-base robot system by slight modification. Since most tasks are specified in inertia space, instead of joint space, we discuss the issues associated to adaptive control in inertia space and identify two potential problems, unavailability of joint trajectory since mapping from inertia space trajectory is dynamic dependent and subject to uncertainty, and nonlinear parameterization in inertia space. We approach the problem by making use of the proposed joint space adaptive controller and updating joint trajectory by the estimated dynamic parameters and given trajectory in inertia space. In the case study of a planar system, the linear parameterization problem is investigated, the design procedure of the controller is illustrated, and the validity and effectiveness of the proposed control scheme is demonstrated.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Bejczy, A. K., and Hannaford, B., “Man-machine Interaction in Space Telerobotics” Proceedings of the International Symposium of Teleoperation and control 1988, pp. 135–49, 1988.
Butler, G., ”The 21st Century in Space: Adavances in the Astrountical Sciences”, American Astronautical Society (edited), San Diego, CA, 1988.
Craig, J. J., Hsu, P., and Sastry, S. S., ”Adaptive Control of Mechanical Manipulators”, International Journal of Robotics Research, Vol. 6(2), pp. 16–28, 1987.
Dubowsky, S., and DesForges, W., ”The Application of Model-Referenced Adaptive Control to Robotic Manipulators”, ASME Journal of Dynamic Systems, Measurement, and Control, 1979.
Horowitz, R., and Tomizuka, M., ”An Adaptive Control Scheme for Mechanical Manipulators”, ASME Paper No. 80-WA/DSC-6, 1980.
Junkins, J. L., ”Mechanics and Control of Large Flexible Structures”, American Institute of Aeronautics and Astronautics, 1990.
Khatib, O., Craig, J. J., and Lozano-Perez, T., ”The Robotics Review”, MIT Press, 1989.
Khosla, P., and Kanade, T., ”Parameter Identification of Robot Dynamics”, Proceedings of IEEE International Conference on Decision and Control, 1985.
Longman, R. W., Lindberg, R. E. and Zadd, M. F., ”Satellite-mounted Robot Manipulators: New Kinematics and Reaction Moment Compensation”, International Journal of Robotics Research, Vol. 6(3), 1987.
Middleton, R. H., and Goodwin, G. C, ”Adaptive Computed Torque Control for Rigid Link Manipulators”, Proceedings of IEEE International Conference on Decision and Control, 1986.
Slotine, J. J., and Li, W., ”On the Adaptive Control of Robot Manipulators”, ”International Journal of Robotics Research, Vol. 6(3), pp. 49–59, 1987.
Slotine, J. J., and Li, W., ”Applied Nonlinear Control”, New Jersey: Printice Hall, 1991.
Spong, M. W., and Vidyasagar, M., ”Robot Dynamics and Control”, John Wiley & Sons, 1989.
Ueno, H., Xu, Y., and et al., ”On Control and Planning of a Space Robot Walker”, Proceedings of 1990 IEEE International conference on System engineering, Pittsburgh, PA, PP. 220–223, 1990.
Ullman, M., and Cannon, R., ”Experiments in Global Navigation and Control of Free-flying Space Robot”, Proceedings of ASME Winter Conference, 1989.
Walker, M. W., and Wee, L.-B., ”An Adaptive Control Strategy for Space Based Robot Manipulators”, Proceedings of IEEE Conference on Robotics and Automation, pp. 1673–1680, 1991.
Whittake, W. L., and Kanade, T., ”Space Robotics in Japan”, Loyola College, 1991.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1993 Springer Science+Business Media New York
About this chapter
Cite this chapter
Xu, Y., Shum, HY., Lee, JJ., Kanade, T. (1993). Adaptive Control of Space Robot System with an Attitude Controlled Base. In: Xu, Y., Kanade, T. (eds) Space Robotics: Dynamics and Control. The Kluwer International Series in Engineering and Computer Science, vol 188. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-3588-1_9
Download citation
DOI: https://doi.org/10.1007/978-1-4615-3588-1_9
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4613-6595-2
Online ISBN: 978-1-4615-3588-1
eBook Packages: Springer Book Archive