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Adaptive Control of Space Robot System with an Attitude Controlled Base

Carnegie Mellon University. Robotics Institute

出版	Carnegie Mellon University, the Robotics Institute, 1991
URL	http://books.google.com.hk/books?id=yr5CAwEACAAJ&hl=&source=gbs_api

註釋

Since most tasks are specified in inertia space, instead of joint space, we discuss the issues associated to [sic] adaptive control in inertia space and identify two potential problems, unavailability of joint trajectory since mapping from inertia space trajectory is dynamic dependent and subject to uncertainty, and nonlinear parameterization in inertia space. We approach the problem by making use of the proposed joint space adaptive controller and updating joint trajectory by the estimated dynamic parameters and given trajectory in inertia space. In the case study of 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 is demonstrated."