Abstract:

The kinematics and dynamics of a free floating space manipulator system are analyzed, and it is shown that the Jacobian matrix and the dynamic equations of the system are nonlinearly dependent on inertial parameters. With the augmentation approach, it is demonstrated that the augmented generalized Jacobian matrix and the dynamic equations of the system can be linearly dependent on inertial parameters. Based on the results, an adaptive control scheme for a free floating space manipulator with uncertain inertial parameters to track the desired trajectory in the workspace is proposed, and a two link planar space manipulator system is simulated to verify the proposed control scheme. The advantages of the adaptive control scheme proposed are that it need not measure the position, velocity and acceleration of the free floating base of space manipulator, and nor the angle acceleration of joints.

Key words: free-floating space manipulat or systems, augmentation approach, adaptive control