On-Line Identification of Environmental Parameters for Force Control of Space Robots

This paper presents a comprehensive solution to the problem of robust execution of fine motions within the context of a Supervised Autonomous System and develops an adaptive control technique which provides on-line autonomous trajectory correction and compliant motion in an unstructured environment for space operations. The Adaptive Control Techniques have recently emerged as promising alternatives to the conventional methods of control, to generate contact motion. In Adaptive Hybrid Force-Position Control, the desired motion is split into two parts where the force is controlled in the constrained direction in an adaptive manner while the position control takes place in the free space. The environment parameters are identified on-line to increase the dynamic performance of the force control scheme.