In this paper, a joint space dynamic control scheme with an adaptive identifier is proposed for free-flying space robots. The control in Cartesian space poses a measurement problem which is critical from a point of view of implementation. In order to overcome this problem, a joint space control is developed. An inverse kinematics algorithm is proposed so as to control free-flying space robots in joint space. Since the inverse kinematic solutions for space robots depend on the dynamic parameters as well as the kinematic.parameters, the accurate estimation of all the unknown parameters is essential to make joint space control possible. Therefore, an off-line adaptive parameter identification is performed for free-flying space robots. Simulation results are given to show the validity and the effectiveness of the presented adaptive identification and dynamic control scheme.
