TY - GEN
T1 - On-line parameter adaptation for a momentum control in the post-grasping of a tumbling target with model uncertainty
AU - Abiko, Satoko
AU - Hirzinger, Gerd
N1 - Copyright:
Copyright 2008 Elsevier B.V., All rights reserved.
PY - 2007
Y1 - 2007
N2 - This paper addresses an on-line parameter adaptation for a momentum accumulation control of a space robot in the post-grasping of a tumbling target whose dynamic parameters are unknown a priori. The model inaccuracies in the target lead to an unexpected tumbling motion after grasping a target. It is desired to transfer the entire angular momentum to the reaction wheels as quickly as possible while stabilization trajectory of the robot-arm is tracked to avoid self-collision in the chaser-robot. Firstly, we derive a momentum control method from the angular momentum equation to accumulate the entire angular momentum into the reaction wheels. The parameter inaccuracies degrade the control performance. Then, an online adaptation law by using coupling force and momentum is proposed. A numerical simulation is carried out to verify the operational performance of the proposed method in the presence of model uncertainty.
AB - This paper addresses an on-line parameter adaptation for a momentum accumulation control of a space robot in the post-grasping of a tumbling target whose dynamic parameters are unknown a priori. The model inaccuracies in the target lead to an unexpected tumbling motion after grasping a target. It is desired to transfer the entire angular momentum to the reaction wheels as quickly as possible while stabilization trajectory of the robot-arm is tracked to avoid self-collision in the chaser-robot. Firstly, we derive a momentum control method from the angular momentum equation to accumulate the entire angular momentum into the reaction wheels. The parameter inaccuracies degrade the control performance. Then, an online adaptation law by using coupling force and momentum is proposed. A numerical simulation is carried out to verify the operational performance of the proposed method in the presence of model uncertainty.
KW - Free-floating space robot
KW - Model uncertainty
KW - Momentum control
KW - On-line parameter adaptation
UR - http://www.scopus.com/inward/record.url?scp=51349163121&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349163121&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399190
DO - 10.1109/IROS.2007.4399190
M3 - Conference contribution
AN - SCOPUS:51349163121
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 847
EP - 852
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -