Online One-Step Parameter Identification Method for a Space Robot with Initial Momentum in Postcapture

Zhang, Teng; Yue, Xiaokui; Dou, Bo; Yuan, Jianping

doi:10.1061/(asce)as.1943-5525.0001130

Cited by 8 publications

(8 citation statements)

References 21 publications

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“…(11) and (16) or (28) and (31), they can only be solved by two steps. The modified RLS method has been presented by Zhang et al [13], which can be used to solve Eqs. (11) and (16) or (28) and (31) in one-step.…”

Section: Solution Methodsmentioning

confidence: 99%

“…Thai et al presented the method for estimating the inertial parameters of the unknown target in postcapture, initial linear momentum of the whole system is zero while angular momentum is not [11]. Zhang et al conducted an identification technique for a space robot with unknown target, initial angular or linear momentum of the system is not zero [12], [13]. Ma et al used motion of the robotic arm to estimate the inertial parameters of the base [14], [15].…”

Section: Introductionmentioning

confidence: 99%

“…Regarding to the difficulty in measuring torque of the joints, the presented method surpasses the traditional ones. Through out the entire process, the identification equation is written in the linear form with respect to the inertial parameters being identified, and the modified RLS method conducted by Zhang [13] is used to estimate all the inertial parameters simultaneously at every step. This paper focuses on the inertial parameter identification of the base with the target after capture, the contact and orbital dynamics are not considered here.…”

Section: Introductionmentioning

confidence: 99%

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An Online One-Step Method to Identify Inertial Parameters of the Base and the Target Simultaneously for Space Robots in Postcapture

2020

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Space robots are in free-flying or free-floating mode, motions especially attitude motion of the base and motion of the manipulator are strongly coupled. Regarding to the uncertainties of the target's inertial parameters and variation of the base's inertial parameters, this paper presents a novel online one-step parameter identification method to estimate all the inertial parameters of the target and the base simultaneously. Momentum-and force-based identification equations are derived from the linear and angular momentum equations of the system and their derivation, and the modified recursive least square method is used for solving the equations efficiently. Compared with the traditional methods, the momentumbased equation can estimate all the inertial parameters of the base and the target simultaneously at each steps, while the force-based equation does not require torque of the joints. To verify the validity and feasibility of the proposed methods, 2D and 3D models with different targets and initial velocities are simulated and analyzed. The results show that all the estimated values show convergence to their ideal values and the method can be easily achieved online via recursive techniques.

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Section: Solution Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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An Online One-Step Method to Identify Inertial Parameters of the Base and the Target Simultaneously for Space Robots in Postcapture

2020

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“…Upright Posture. Take the lifted state of the left hind leg as an example to determine the conditions of the static stability of the body [16]. Figure 5 shows the momentum, moment of the hip joint, and the leaning tendency of the body after the left hind leg is raised.…”

Section: Stability Conditions Of the Body With A Traditionalmentioning

confidence: 99%

“…In equation (16), m is the mass of the body. During the movement of the quadruped robot, at least one leg is required to swing to achieve the advancement of the body, and at the same time, the contact between the three legs and the ground is required to maintain static stability.…”

Section: Stability Conditions Of the Body With A Traditionalmentioning

confidence: 99%

Stable Balance Adjustment Structure of the Quadruped Robot Based on the Bionic Lateral Swing Posture

Qin

Luo

Chuang

et al. 2020

Mathematical Problems in Engineering

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Aiming at the problem that the stability of the quadruped robot is decreased as its leg momentum is too high, a stable balance adjustment structure of the quadruped robot based on the bionic lateral swing posture is proposed. First, the leg structure of the quadruped robot is improved and designed by using the mechanism of the lateral swing posture of the leg of the hoof animal. Then, the D-H method is used to construct the corresponding leg kinematics model and determine the generalized coordinates of the leg joints in the lateral swing posture. The torque expression of the quadruped robot when it is tilted is established. Based on the differential equation of momentum of the hip joint and its static stability analysis, the static stability conditions in the upright posture and the bionic lateral swing posture are given. Finally, the experimental simulation and comparative analysis of the upright posture and the lateral swing posture of the quadruped robot are proposed by using the Adams virtual prototype technology. The simulation results show that as the angle of lateral swing increases, the peak value of the positive flip torque of the quadruped robot body increases accordingly, while the degree of tilt decreases accordingly, which shows that the bionic lateral swing posture of the quadruped robot has higher static stability than the traditional upright posture. This research provides a technical reference for the design and optimization of the offline continuous gait of the robot and the improvement of stability.

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Continuous-discrete extended Kalman filter based parameter identification method for space robots in postcapture

Zhang,

Shi,

Yang

et al. 2024

Nonlinear Dyn

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Online One-Step Parameter Identification Method for a Space Robot with Initial Momentum in Postcapture

Cited by 8 publications

References 21 publications

An Online One-Step Method to Identify Inertial Parameters of the Base and the Target Simultaneously for Space Robots in Postcapture

An Online One-Step Method to Identify Inertial Parameters of the Base and the Target Simultaneously for Space Robots in Postcapture

Stable Balance Adjustment Structure of the Quadruped Robot Based on the Bionic Lateral Swing Posture

Continuous-discrete extended Kalman filter based parameter identification method for space robots in postcapture

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