Recursive Adaptive Control of Y-Shape Space Robot

This paper studies the control of a Y-shape space robot, which is a spacecraft mounted with a Y-shape manipulator. The Y-shape manipulator is composed of one main manipulator and two sub-manipulators. By using spatial vector and directed path method, the recursive dynamics model is established. Moreover, the closed form dynamics of the space robot is also deduced. It is assumed that the exact knowledge of the inertia parameters is not available. The adaptive control method is used to deal with this difficulty. In order to improve the computational efficiency, the recursive form of the adaptive controller is also provided. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed approach.