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Abstract：
In this paper, the kinematics and dynamics of free-floating space robot system with dual-arms are analyzed. The closed-loop dynamic error equation considering uncertainties for the space robot is derived by using the PD type computed torque method. A new learning control method using real coded genetic algorithm is presented to control the system and its controller structure is designed. A compensating learning control item is added to the error equation to approach the uncertainties by evolutionary learning. Then, the computed torque method and the GA learning control are combined to realize the perfect trajectory tracking. Simulation results show the efficiency of the control method. © 2009 IEEE.
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2009 Chinese Control and Decision Conference, CCDC 2009
Year： 2009
Page： 689-694
Language： Chinese
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ESI Highly Cited Papers on the List： 0 Unfold All
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30 Days PV： 1
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