• DocumentCode
    312791
  • Title

    Adaptive control of torque-unit manipulator

  • Author

    Osuka, Koichi ; Yoshida, Koji ; Ono, Toshiro

  • Author_Institution
    Dept. of Mech. Syst. Eng., Osaka Prefecture Univ., Japan
  • Volume
    2
  • fYear
    1997
  • fDate
    4-6 Jun 1997
  • Firstpage
    957
  • Abstract
    In this paper, we show a design method of an adaptive control law for the “Torque-Unit-Manipulator (TUM)” which is proposed by us as a new type of space manipulator. The important point of the result is that, in spite of the special structure of the TUM, the design method is simple and similar to a controller design method for conventional manipulators
  • Keywords
    adaptive control; aerospace control; control system synthesis; manipulators; Space manipulator; TUM; adaptive control design; torque-unit manipulator; Actuators; Adaptive control; Design methodology; Kinematics; Manipulator dynamics; Mechanical systems; Shafts; Space stations; Systems engineering and theory; Torque;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 1997. Proceedings of the 1997
  • Conference_Location
    Albuquerque, NM
  • ISSN
    0743-1619
  • Print_ISBN
    0-7803-3832-4
  • Type

    conf

  • DOI
    10.1109/ACC.1997.609668
  • Filename
    609668
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=312791