双腕型宇宙ロボットの制御

概要

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An adaptive control of the space robot that grasps an unknown payload by dual manipulators is discussed. For a space robot system with single manipulator, the adaptive control has been already proposed. By the method, position and attitude of the space robot can be controlled estimating the unknown parameters of the payload. This paper extends the method to the space robot with dual manipulators, which must be cooperatively controlled. Asymptotic stability of the adaptive control in this system is also assured by Lyapunov's second method. Several numerical simulations show the effectiveness.
東海大学の論文