• Corpus ID: 17959142

MOTION CONTROL OF ELECTRICAL DRIVEN FREE-FLOATING SPACE MANIPULATOR

@inproceedings{Chu2007MOTIONCO,
  title={MOTION CONTROL OF ELECTRICAL DRIVEN FREE-FLOATING SPACE MANIPULATOR},
  author={Zhongyi Chu and Fuchun Sun and Haomiao Wu},
  year={2007},
  url={https://api.semanticscholar.org/CorpusID:17959142}
}
In this paper, motion control of electrical driven free floating space manipulator is considered.The dynamics of the free-floating space manipulator are derived based on Virtual Manipulator Approach(VMA),which allows us to develop controller in joint space. Then a proportional plus derivative feedback control system with disturbance observer(DOB)are employed to compensate joint coupling,unmodeled uncertainties, as well as external disturbances herein both manipulator dynamics and motor dynamics… 
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