Adaptive neural network control for coordinated motion of a dual-arm space robot system with uncert

• 作 者: 郭益深 陈力
• 机 构: CollegeofMechanicalEngineering
• 出 处: 应用数学和力学：英文版
• 发表日期: 2008年9期
• 关键词: 空间机器人 浮动技术 自然网络 技术性能 flee-floating dual-arm space robot RBF neural network GL
• 基金项目: Project supported by the National Natural Science Foundation of China （Nos. 10672040 and 10372022） and the Natural Science Foundation of Fujian Province of China （No. E0410008）

Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the d