Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance
A novel force/position tracking controller is proposed for space free-flying robots. Prescribed tracking performance is guaranteed through an error transformation. No information on robot parameters and bounded disturbances are required. Kinematical uncertainty of the robot is handled by approximation of Jacobian. A tunable gain is introduced to trade off between control performance and effort.
force/position tracking free-flying robots transient performance contact maintenance uncertain kinematics compliant contact