Extended jacobian based adaptive zero reaction motion control for free-floating space manipulators

This paper is devoted to the investigation of the adaptive zero reaction motion control for free-floating space manipulators in the presence of both the dynamic and kinematic uncertainties. The nonlinearly parametric problem of the generalized Jacobian matrix is solved by the exploitation of the angular momentum conservation law. By virtue of Lyapunov stability analysis tools, we propose an extended Jacobian based adaptive zero reaction controller for free-floating space manipulators, taking into account both the kinematic and dynamic uncertainties, and show that both the spacecraft attitude regulation and end-effector trajectory tracking can be achieved without using the end-effector velocity. The performance of the proposed controller is illustrated via numerical simulation on a three-DOF planar space manipulator.