Inverse-model neuro-control of free-floating space robot with rigid manipulators and rigid-flexible manipulators

A robotic neuro-control that connects the neural network and PI control to construct a hybrid scheme of robotic inverse-model learning control has been proposed for trajectory tracking control free-floating space robot with rigid manipulators and ridid-flexible manipulators, and the working principles of control are demonstrated. Finally, a simulation of control scheme for a free-floating space robot with two-manipulator was made. The simulation results have shown that the proposed inverse-model learning neuro-control possesses great speed of convergence and higher tracking precision, and can provide an effective control for free-floating space robot.