Adaptive Control of Space Robot System with an Attitude-Controlled Base

Yangsheng Xu, Heung-Yeung Shum, Ju-Jang Lee, and Takeo Kanade
Proceedings of the 1992 IEEE International Conference on Robotics and Automation (ICRA '92), May, 1992, pp. 2005 - 2010.


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Abstract
The authors discuss adaptive control of a space robot system with an attitude-controlled base on which the robot is attached. An adaptive control scheme in joint space is proposed. Since most tasks are specified in inertia space, instead of joint space, the authors discuss the issues associated to adaptive control in inertia space and identify two potential problems, unavailability of the joint trajectory (since mapping from inertia space trajectory is dynamics-dependent and subject to uncertainty), and nonlinear parameterization in inertia space. For 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 are demonstrated.

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference
Yangsheng Xu, Heung-Yeung Shum, Ju-Jang Lee, and Takeo Kanade, "Adaptive Control of Space Robot System with an Attitude-Controlled Base," Proceedings of the 1992 IEEE International Conference on Robotics and Automation (ICRA '92), May, 1992, pp. 2005 - 2010.

BibTeX Reference
@inproceedings{Xu_1992_2452,
   author = "Yangsheng Xu and Heung-Yeung Shum and Ju-Jang Lee and Takeo Kanade",
   title = "Adaptive Control of Space Robot System with an Attitude-Controlled Base",
   booktitle = "Proceedings of the 1992 IEEE International Conference on Robotics and Automation (ICRA '92)",
   pages = "2005 - 2010",
   month = "May",
   year = "1992",
   volume = "3",
}