Inertia Parameter Identification for a Free-Flying Space Robot

“…Formulating the momentum model in terms of minimal parameters makes them sufficient not only for momentum model-based control but also for motion planning and dynamic model-based control. Estimating such widely applicable minimal parameters of the space robot, with no prior knowledge of inertial parameters of any of its links, fundamentally distinguishes the presented work from other momentum-based identification techniques [10,[16][17][18][19].…”

Section: Introductionmentioning

confidence: 99%

“…On the one hand, position and velocity are easy to measure, and their measurements have high signal-to-noise (SN) ratio. On the other hand, torque and acceleration measurements often have low SN ratio in space robots since their signal amplitude is low for safety reasons [16,17]. As a result, parameter estimates based on the momentum model are proven to be substantially accurate than dynamic model based parameter estimates [10,18].…”

Section: Introductionmentioning

confidence: 99%

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Momentum Model-Based Minimal Parameter Identification of a Space Robot

Naveen

Shah

Misra

2019

Journal of Guidance, Control, and Dynamics

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Accurate information of inertial parameters is critical to motion planning and control of space robots. Before the launch, only a rudimentary estimate of the inertial parameters is available from experiments and computer-aided design (CAD) models. After the launch, onorbit operations substantially alter the value of inertial parameters. In this work, we propose a new momentum model-based method for identifying the minimal parameters of a space robot while on orbit. Minimal parameters are combinations of the inertial parameters of the links and uniquely define the momentum and dynamic models. Consequently, they are sufficient for motion planning and control of both the satellite and robotic arms mounted on it. The key to the proposed framework is the unique formulation of momentum model in the linear form of minimal parameters. Further, to estimate the minimal parameters, we propose a novel joint trajectory planning and optimization technique based on direction combinations of joints' velocity. The efficacy of the identification framework is demonstrated on a 12 degreesof-freedom, spatial, dual-arm space robot. The methodology is developed for tree-type space robots, requires just the pose and twist data, and scalable with increasing number of joints.

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“…The use of torqueproducing control for estimation prevents fuel usage, disturbances, and contamination problems. Yoshida et al [10] presents a method for the identification of the inertia parameters of a free-flying space robot. The method makes use of the conservation of momentum and the effect of gravity gradient torque, which both are unique characteristics in space.…”

Section: Introductionmentioning

confidence: 99%

Docked spacecraft mass property identification using space manipulator

Wang

Huang

Chang

et al. 2014

2014 IEEE International Conference on Information and Automation (ICIA)

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This paper presents an approach for identification of mass properties of the docked spacecraft only by the motion of space manipulator. The approach makes use of the conservation of momentum, and the corresponding identification algorithm that does not require torque or acceleration measurement is developed based the recursive least square, and can be solved in two steps. The first step is to identify the mass and mass center of the docked spacecraft based on the principle of linear momentum conservation; and the second step is to identify the inertia tensor of the docked spacecraft based on the principle of angular momentum conservation. The significant advantage of the approach is to decouple the mass, mass center and inertia tensor, without consuming valuable jet fuel, and requires only a wide range of motion of space manipulator. Validity of the identified result is confirmed by the simulation.

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Inertia Parameter Identification for a Free-Flying Space Robot

Cited by 50 publications

References 5 publications

Target berthing and base reorientation of free-floating space robotic system after capturing

Target berthing and base reorientation of free-floating space robotic system after capturing

Momentum Model-Based Minimal Parameter Identification of a Space Robot

Docked spacecraft mass property identification using space manipulator

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