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A dynamic control method for free-floating space manipulator in task space

A dynamic control approach in task space is proposed for trajectory tracking problem of free-floating space manipulator without controlling the pose of the spacecraft. Based on the extended manipulator model, the dynamic equation of the system is derived. The dynamic parameters needed by the dynamic control in task space could be estimated by the off-line adaptive identification method. The presented control scheme guarantees asymptotic tracking of the desired end-effector trajectory and does not require measurement of the joint accelerations. Simulation results given show the feasibility and effectiveness of the proposed method.