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This paper is concerned with two parameter identification methods for inertial parameters of the unknown object handled by manipulators on a free-flying space robot under the condition that the robot is free to translate and rotate. One method is based on the conservation principle of linear and angular momentum, and the other on Newton-Euler equations of motion. Only the linear/angdar velocities and acceleration of the satellite are used in the identification methods with no information of the force and torque utilized. The feasibility of the methods is demonstrated by a hardware experiment on the ground as well as numerical simulations. Models aiid Identification Probleni 2.1A free-flying space robot considered here has a manipulator with N degrees of freedom ( N 2 2). This system is a rigid niultibody system connected by rotary hinges with no closed-loop chains. An unknown object is grasped firmly by the manipulator hand, and its relative position and orientation to the manipulator hand does not change. For simplicity, only one joint, i.e., joint i, is driven aiid the other joints are fixed during the action for identification. Hence the system is considered as a two-body system with two rigid bodies connected by a rotational joint. Figure 1 shows a space Models of Space Robot and Definitions

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