Flexible effects in the joints of large space robots make their real-time operation a challenging task, especially when accurate endpoint positioning is required. The problem is further aggravated when the flexible joint stiffness matrix is not well known. This paper discusses the application of a model reference adaptive control (MRAC) composite system for tracking the endpoint of a flexible joint space robotic manipulator. The composite control scheme consists in a flexible control term designed to damp the joint vibrations plus a Transpose Jacobian rigid control term for which the control gains are adapted using a novel direct MRAC adaptation law. Numerical simulations show that the adaptive composite controller can maintain stability and good tracking performance despite significant uncertainties in the joint stiffness coefficients. Copyright

Additional Metadata
Persistent URL dx.doi.org/10.2514/6.2010-7844
Conference AIAA Guidance, Navigation, and Control Conference
Citation
Ulrich, S, & Sasiadek, J. (2010). Direct model reference adaptive control of a flexible joint robot. Presented at the AIAA Guidance, Navigation, and Control Conference. doi:10.2514/6.2010-7844