Adaptive Neural Network Control for Coordinated Motion of Dual-Arm Space Robot System With Uncertain Parameters

GUO Yi-shen; CHEN Li

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Article Navigation > Applied Mathematics and Mechanics > 2008 > 29(9): 1028-1036

GUO Yi-shen, CHEN Li. Adaptive Neural Network Control for Coordinated Motion of Dual-Arm Space Robot System With Uncertain Parameters[J]. Applied Mathematics and Mechanics, 2008, 29(9): 1028-1036.

Citation:

GUO Yi-shen, CHEN Li. Adaptive Neural Network Control for Coordinated Motion of Dual-Arm Space Robot System With Uncertain Parameters[J]. Applied Mathematics and Mechanics, 2008, 29(9): 1028-1036.

Citation:

GUO Yi-shen, CHEN Li. Adaptive Neural Network Control for Coordinated Motion of Dual-Arm Space Robot System With Uncertain Parameters[J]. Applied Mathematics and Mechanics, 2008, 29(9): 1028-1036.

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Adaptive Neural Network Control for Coordinated Motion of Dual-Arm Space Robot System With Uncertain Parameters

College of Mechanical Engineering, Fuzhou University, Fuzhou 350002, P. R. China

Received Date: 2007-08-15
Rev Recd Date: 2008-08-07
Publish Date: 2008-09-15

Abstract

Abstract

The control problem of coordinated motion between the base's attitude and the arms' joints of a free-floating dual-arm space robot with uncertain parameters was discussed. Combining the relationship of the system linear momentum conversation and the Lagrangian approach, the dynamic equation of a free-floating dual-arm space robot was established. Based on the above results, the free-floating dual-arm space robot system was modeled by the RBF neural network technique, the GL matrix and its product operator. With all uncertain inertial parameters of system, the adaptive RBF neural network control scheme was developed for coordinated motion between the base's attitude and the arms. joints of the free -floating dual-arm space robot. This proposed control scheme need neither linearly parameterize the dynamic equation of system and foreknow any actual inertial parameters accurately, nor train the neural network offline so that it could be prone to real-time and online application. A planar free-floating dual-arm space robot is simulated to verify the feasibility of the proposed control scheme.
- free-floating dual-arm space robot,
- RBF neural network,
- GL matrix and its product operator,
- coordinated motion,
- adaptive control

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References(22)

References

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