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This paper presents a novel way to derive the analytical expression of the reaction torque acted on the satellite base's centroid firstly. The reaction torque is acted as the optimization index to achieve the satellite base disturbance minimization in this paper. The null-space based solution and Lagrange multipliers based solution are utilized to solve the reaction torque plus joint torque minimization...
In this paper, a novel robust adaptive controller is proposed to simultaneously cope with the unknown nonlinear backlash, friction and dynamic uncertainties in the 3-DOF robotic head system. Inverse backlash compensation with on-line backlash parameter estimation and model-based friction compensation with off-line Stribeck friction identification are incorporated into this robust adaptive scheme....
In order to achieve large tolerance capture and high stiffness connection for space payload operations, a Chinese large-scale space end-effector (EER) was developed. Friction is a kind of strong nonlinear factor that severely degrades performance of EER. To predict the friction amplitude and compensate the dynamic error, the friction model based Generalized Maxwell-Slip model (GMS) is built. In order...
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