Disturbance rejection for space-based manipulators

摘要

This paper describes the implementation of a disturbance rejection controller for a 6-DOF PUMA manipulator mounted on a 3-DOF platform. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Experimental results are presented for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities.