Adaptive kinematic control of free-floating space robot system

Free-floating space robot is different from the robot with inertially fixed base in that its Jacobian matrix is dependent not only on geometric parameters, but also on inertia parameters nonlinearly. Since the inertia parameters are usually not known accurately, large end-effector tracking error will be induced if the inaccurate Jacobian is used to calculate joint trajectory given the desired end-effector trajectory. In this paper, adaptive schemes are developed to generate joint rate and joint acceleration, trajectories, the proposed schemes are proved to be stable and ensure convergence of end-effector tracking error despite of the uncertainties of inertia parameters. Simulation of planar two-link free-floating space robot system is implemented to verify the proposed adaptive schemes.