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Adaptive Control for Space Manipulators in Task Space

Wang Jing Liu Liangdong Liang Bin Wu Hongxin (Beijing Insitute of Control Engineering,Beijing 100080)   

  • Published:2000-12-25
  • Supported by:
    国家 8 63计划航天领域的资助! ( 863- 2 - 4- 1- 2 0 )

Abstract: For the space manipulator with an attitude-controlled base, an adaptive control algorithm in task space is presented in this paper,which proves that the displacement tracking errors in task space amd the joint errors and joint velocity errors in joint space are both asymptotically convergent. Simulation results confirms the effectiveness of the algorithm.