Adaptive control of free-floating space manipulators

In this paper, we model a free-floating space manipulator system using Dynamically Equivalent Model (DEM) approach. The DEM is a fixed-base manipulator system and allows us to linearly parameterize the dynamic equations. Using this linearly parameterized dynamic equation, an adaptive control method is developed to control the system in joint space. Simulation results are given to show the validity of the presented identification and control scheme.