Space arms such as SSRMS and JEMRMS are modeled as a macro-micro manipulator system, where a macro arm perform a passive flexible base during the operation of a micro arm. Paying attention to the reaction dynamics, it is possible to perform vibration suppression control with arbitrary positioning of the endtip. In this paper, the application of the adaptive control methods for the adaptive control under the parameter errors is verified through the hardware in the loop simulations.
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