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
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;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.609668
