Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and CamerasReportar como inadecuado


Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras


Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras - Descarga este documento en PDF. Documentación en PDF para descargar gratis. Disponible también para leer online.

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150000, China





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Academic Editor: Dan Zhang

Abstract Satellite capturing with free-floating space robots is still a challenging task due to the non-fixed base and unknown mass property issues. In this paper gyro and eye-in-hand camera data are adopted as an alternative choice for solving this problem. For this improved system, a new modeling approach that reduces the complexity of system control and identification is proposed. With the newly developed model, the space robot is equivalent to a ground-fixed manipulator system. Accordingly, a self-tuning control scheme is applied to handle such a control problem including unknown parameters. To determine the controller parameters, an estimator is designed based on the least-squares technique for identifying the unknown mass properties in real time. The proposed method is tested with a credible 3-dimensional ground verification experimental system, and the experimental results confirm the effectiveness of the proposed control scheme. View Full-Text

Keywords: free-floating space robot; autonomous target capturing; space robot modeling; self-tuning control; mass property estimation free-floating space robot; autonomous target capturing; space robot modeling; self-tuning control; mass property estimation





Autor: Zhenyu Li * , Bin Wang * and Hong Liu

Fuente: http://mdpi.com/



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