宇宙用マニピュレータのディジタル適応制御

概要

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This paper deals with digital adaptive control for a space manipulator mounted on a free-flying robot (FFR), after capturing an unknown object. Most of the previous control methods are based on the supposition that all physical parameters of the FFR system are known. However, if the endeffector captures an unknown object, the physical parameters of the robot are changed, and the control performance worsens. In this paper, we propose digital adaptive control using a discretized kinematic equation and a simplified generalized jacobian matrix. Computer simulation shows that the control performance can be improved using the proposed method. Moreover, in order to verify the result of the simulation, the experiments are conducted using a simulator that simulates the microgravity environment. The experimental results confirm the validity of the proposed control method.
社団法人日本機械学会の論文
1996-01-25