The Adaptive Control of Coordinated Motion of Spacecraft Attitude and Its Manipulator
空间机械臂本体与末端抓手协调运动的自适应控制方法

The adaptive control of coordinated motion of spacecraft attitude and manipulator of the space manipulator systems whose spacecraft position is not controlled is discussed. So the kinematics and dynamics of the system are analyzed, and it is demonstrated that the augmented generalized Jacobian matrix and the system dynamic equations can be linearly dependent on a group of inertial parameters. Based on the results, the adaptive control scheme of coordinated motion of spacecraft attitude and the desired trajectory in workspace of its manipulator is proposed, and a two_link planar space manipulator system is simulated to verify the proposed control scheme. The advantages of the adaptive control scheme proposed are that it need not to measure the position, velocity and acceleration of the spacecraft, and so do the angle acceleration of joints.