Cart (Loading....) | Create Account
Close category search window
 

Adaptive and robust composite control of coordinated motion of space robot system with prismatic joint

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Chen Li ; Dept. of Mech. Eng., Fuzhou Univ., China

In this paper, the coordinated control of the base attitude of the space robot system with prismatic joint and arms is studied. Based on the momentum conservation, the kinematics and dynamics of the system are analyzed. It is shown that the generalized Jacobian matrix and dynamic equations of the system can be linearly dependent on a group of inertial parameters. From the results proposed above, the adaptive and robust composite coordinated motion control scheme for both the base attitude and its arms to track the desired trajectory is developed. The control scheme proposed has the advantage that no measuring or controlling the position, velocity and acceleration of the base with respect to the orbit is needed, due to an effective exploitation of the particular property of the system dynamics. A two-link planar space robot system is simulated to verify the proposed control scheme.

Published in:

Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on  (Volume:2 )

Date of Conference:

2002

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.