Adaptive control for capture object of Space robot

摘要

The paper first derives kinematics of the space robot system with an attitude-controlled base to which the robot is attached, receives the generalized Jacobian. Desired trajectory of the robot end-effector in inertial space was planed based on the movement of the object. The kinematics and the dynamics can be linearized by a set of combined parameters, the update law of the parameters was designed respectively. Adaptive control was adopted in joint space. When the dynamic parameters are unknown, the algorithm can guarantee asymptotic stability of the system; and the attitude of base was fixed when the end-effector tracked the desired trajectory to capture the object. Planar two-joint space robot is simulated to verify the validity and effectiveness of the algorithm.