A design of digital adaptive control systems for space robot manipulators using a transpose of the generalized Jacobian matrix

Abstract

We propose a digital control method for space robot manipulators using the transpose of the generalized Jacobian matrix. The method, however, is developed on the supposition that all the physical parameters of the robot manipulator are known. Therefore, if the end-effector of the manipulator captures an object whose mass is unknown, the stability of the control system cannot be maintained because the physical parameters are changed. This article presents the adaptive control version.