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In this paper, the kinematics and dynamics of free-floating space robot manipulator are analyzed. With the system uncertainties consideration, the closed-loop dynamic error equation for the space robot manipulator is derived by computed torque method. Attaching an evolutionary learning affixation to the error equation standing for the system uncertainties, a RBF-NN based learning compensating control...
In this paper, a backstepping robust control method for free-floating space robot system with dual-arms is proposed. Base on the analysis of the kinematics and dynamics, with the backstepping method, the Lyapunov function for robust control is designed. Considering the system uncertainties of the system, a robust GCMAC (Gauss Basis Function Cerebellar Model Articulation Controller) is built to consummate...
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