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

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Persistent URL dx.doi.org/10.2514/6.2010-7844
Conference AIAA Guidance, Navigation, and Control Conference
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