Integrated adaptive control for space manipulator operations

The paper focuses on Indirect adaptive control of space robot manipulators when maneuvering payloads with Imperfectly known mechanical parameters. The objective Is to estimate system mechanical parameters during the maneuver Itself. The system bodies are rigid, and are concatenated by ideal, rotational Joints. Existing adaptive control laws are...

Dynamics modelling, simulation, and control of a spacecraft/manipulator system

Four well-known formalisms for mathematical modelling of the dynamics of a spacecraft/manipulator system are derived from the unifying d'Alembert principle. The Newton-Euler formalism is discussed in more detail, as it allows efficient numerical simulation. An algorithm is defined for the control of the manipulator end-effector motion in...