Name
Abstract | ||
|---|---|---|
This paper deals with a digital adaptive control for a manipulator mounted on a space robot. Most control methods are based on the supposition that all physical parameters of the space robot are known. However, if the end-effector catches an unknown object, the physical parameters of the robot are changed. Furthermore, joint actuators of a manipulator generally have input constraints. Even though the end-effector does not catch any objects, if the inputs of the actuators become saturated, the control performance gets worse. In this paper, we propose a digital adaptive control method for a manipulator having input constraints. Experimental results from a Space Manipulator Robot Testbed demonstrate the effectiveness of the proposed method |
Year | DOI | Venue |
|---|---|---|
1998 | 10.1109/IROS.1998.724794 | IROS |
Keywords | Field | DocType |
space robot manipulator,joint actuators,digital adaptive control,robot physical parameters,space manipulator robot testbed,aerospace robotics,input constraints,adaptive control,manipulators,end-effector,digital control,space technology,space missions,actuators,end effector,robot kinematics,parameter estimation,testing | Parallel manipulator,Robot control,Control theory,Computer science,Robot kinematics,Control engineering,Robot end effector,Snake-arm robot,Adaptive control,Robot,Mobile manipulator | Conference |
Volume | ISBN | Citations |
3 | 0-7803-4465-0 | 1 |
PageRank | References | Authors |
0.46 | 3 | 6 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shinichi Sagara | 1 | 30 | 10.93 |
| Yuichiro Taira | 2 | 11 | 4.64 |
| Ryozo Katoh | 3 | 37 | 5.54 |
| Tadashi Yamashita | 4 | 11 | 2.68 |
| Fujio Ohkawa | 5 | 7 | 3.11 |
| Toshinori Suehiro | 6 | 1 | 0.79 |