Optimal measurement for kinematic calibration of a six-DOF spatial robotic manipulator

Li, Ké; Wang, Yan‐Bo; Deng, Tao; Deng, Songbo; Li, Jianming; Yang, Fan

doi:10.1109/rcar.2017.8311869

Cited by 1 publication

(1 citation statement)

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“…Most of new end-effectors used for self-relocation (Han et al, 2016 ), target capturing (Liu et al, 2015 ; Kwok Choon et al, 2018 ), surface sampling (Moreland et al, 2018 ), and spacecraft refueling (Medina et al, 2017 ) were tested and verified carefully before on-orbit applications. Moreover, many algorithmic procedures have been presented and verified on an air bearing testbed for theoretical research such as capturing controller design Huang et al ( 2018 ), on-orbit parameters identification and calibration (Li et al, 2017 ; Meng et al, 2020 ), and trajectory planning for space manipulators (Sabatini et al, 2017 ).…”

Section: Introductionmentioning

confidence: 99%

Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data

Wei

Liang

et al. 2021

Front. Robot. AI

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Space manipulators have attracted much attention due to their implications in on-orbit servicing in recent years. Air bearing based support equipment is widely used for ground test to offset the effect of gravity. However, an air bearing support introduces a new problem caused by additional inertial and mass properties. Additional mass and inertial load will influence the dynamics behavior, especially stiffness information and vibration response of the whole ground test system. In this paper, a set of procedures are presented to remove the influence of air bearings and identify the true equivalent joint stiffness and damping from the test data of a motor-braked space manipulator with an air bearing support. First, inertia parameters are identified. Then, the equivalent joint stiffness and damping are determined by using a genetic algorithm (GA) method. Finally, true vibration characteristics of the manipulator are estimated by removing the additional inertia caused by the air bearings. Moreover, simulations and experiments are carried out to validate the presented procedures.

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