Motion Control of Electrical Driven Free-floating Space Manipulator
نویسندگان
چکیده
In this paper, motion control of electrical driven free floating space manipulator is considered.The dynamics of the free-floating space manipulator are derived based on Virtual Manipulator Approach(VMA),which allows us to develop controller in joint space. Then a proportional plus derivative feedback control system with disturbance observer(DOB)are employed to compensate joint coupling,unmodeled uncertainties, as well as external disturbances herein both manipulator dynamics and motor dynamics. In addition, a feed-forward control of a simple predictor was added to improve performance further. At last,simulation results from a six-link electrical driven space manipulator show that the developed controller achieves superior performance with less tracking error, especially when internal model uncertainties and large external distur-
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