INERTIA PARAMETERS ESTIMATION OF PLANAR OBJECT ON ROBOT PUSHING OPERATION

2009 ◽  
Vol 06 (04) ◽  
pp. 239-247 ◽  
Author(s):  
YONG YU ◽  
TETSU ARIMA ◽  
SHOWZOW TSUJIO
Keyword(s):  
Experimental Verification ◽  
Center Of Mass ◽  
Point Contact ◽  
Parameters Estimation ◽  
Moment Of Inertia ◽  
Inertia Parameters ◽  
Angular Velocities ◽  
Unknown Object

This paper proposes a technique that can estimate the inertia parameters of a graspless unknown object, which is pushed by robot fingers. Using the fingertip different accelerations (or angular accelerations), velocities (or angular velocities) and forces information measured in pushing operations, the algorithms to estimate the object mass (or moment of inertia) are described. Then, a line called C.M. Line, is defined in this paper. The line contains the center of mass and is between two fingertips which are in point-contact with an object side. By using two or more orientation-different C.M. lines, an algorithm to estimate the center of mass of the object is given. Lastly, experimental verification on the proposed approach is performed and its results are outlined.

scholarly journals Satellite Inertia Parameters Estimation Based on Extended Kalman Filter

2019 ◽  
Author(s):  
Abdellatif Bellar ◽  
Mohammed Arezki Si Mohammed
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Critical Role ◽  
Low Earth Orbit ◽  
Parameters Estimation ◽  
Moment Of Inertia ◽  
Satellite Mission ◽  
Inertia Matrix ◽  
Inertia Parameters ◽  
The Moment

The moment of inertia parameters play a critical role in assuring the spacecraft mission throughout its lifetime. However, determination of the moment of inertia is a key challenge in operating satellites. During satellite mission, those parameters can change in orbit for many reasons such as sloshing, fuel consumption, etc. Therefore, the inertia matrix should be estimated in orbit to enhance the attitude estimation and control accuracy. This paper investigates the use of gyroscope to estimate the attitude rate and inertia matrix for low earth orbit satellite via extended Kalman filter. Simulation results show the effectiveness and advantages of the proposed algorithm in estimating these parameters without knowing the nominal inertia. The robustness of the proposed algorithm has been validated using the Monte-Carlo method. The obtained results demonstrate that the accuracy of the estimated inertia and angular velocity parameters is satisfactory for satellite with coarse accuracy mission requirements. The proposed method can be used for different types of satellites.

Inertia Parameters Identification of Motor Assembly for Electric Vehicles Based on Modal Test Method

2013 ◽  
Vol 470 ◽  
pp. 534-538 ◽  
Author(s):  
Li Zhao He ◽  
Peng Yu ◽  
Tong Zhang ◽  
Rong Guo
Keyword(s):  
Error Analysis ◽  
Electric Vehicles ◽  
Center Of Mass ◽  
Moment Of Inertia ◽  
Test Method ◽  
Mass Center ◽  
Test Error ◽  
Modal Test ◽  
Drive Motor ◽  
Inertia Parameters

Inertia parameters are essential for motor assembly mounting design, which mainly includes the mass, center of mass (CM) coordinates, moment of inertia and product of inertia. This paper explains the principle and methods of modal test method. One vehicle drive motor assembly is taken as the research object, its inertia parameters are identified using this modal test method. Finally test error analysis is also performed.

Measurement Method Research on Inertial Parameters of Motor Assembly

2013 ◽  
Vol 437 ◽  
pp. 663-668
Author(s):  
Ling Sun ◽  
Peng Yu ◽  
Tong Zhang
Keyword(s):  
Measurement Method ◽  
Center Of Mass ◽  
Moment Of Inertia ◽  
Balance Method ◽  
Test Error ◽  
Inertial Parameters ◽  
Drive Motor ◽  
Weight Method ◽  
Mass Position

Inertial parameters of the motor assembly include its mass, CM (center of mass) position, moment of inertia and product of inertia. Taking one vehicle drive motor as the research object, its mass and CM position are measured by using weight method and moment balance method respectively. Its moment of inertia and product of inertia are measured by using three-wire pendulum. On the basis of analyzing the test error, this paper proposed specific measures to reduce the test error.

scholarly journals Non-coplanar interplanetary flight simulation considering motion relative to the center of mass peculiarities of solar sail spacecraft

2020 ◽  
Vol 4 (3) ◽  
pp. 141-150
Author(s):  
R. M. Khabibullin ◽  
O. L. Starinova
Keyword(s):  
Thin Film ◽  
Center Of Mass ◽  
Control Program ◽  
Solar Sail ◽  
Flight Simulation ◽  
Light Pressure ◽  
Second Stage ◽  
Third Stage ◽  
Angular Velocities ◽  
The Hill

The paper is devoted to the non-coplanar interplanetary Earth–Venus flight of a spacecraft equipped with a non-perfectly reflecting solar sail, the magnitude and direction of acceleration from which is calculated taking into account specular and diffuse reflections, absorption and transmission of photons by the surface of the solar sail. The goal of the heliocentric motion is to transfer the solar sail spacecraft into the Hill sphere of Venus with zero hyperbolic excess of speed. A feature of the paper is the study of the motion of a non-perfectly reflecting solar sail spacecraft taking into account the motion relative to the center of mass. The problem is divided into three stages. At the first stage, a nominal program for controlling the motion of the spacecraft center of mass is formed. At the second stage, sufficient angular velocities are determined to ensure the obtained nominal control program and the parameters of the spacecraft controls – thin-film controls located along the perimeter of the solar sail – are calculated. The operating principle of the thin-film controls is quite simple. When the voltage applied to the thin-film controls changes, they become transparent or opaque, there is a difference in the normal components of the light pressure forces, which provides a control torque for changing the orientation of the spacecraft in space. At the third stage, the joint motion of the center of mass and relative to the center of mass of the spacecraft is simulated to demonstrate the feasibility of the obtained control program. As a result, a comparison is made of non-coplanar interplanetary Earth–Venus flights with and without thin-film control elements.

11 Dimensions, Mass, Location of the Center of Mass, and Moment of Inertia of the Segments of the Human Body

2016 ◽  
Author(s):  
Paul Brinckmann ◽  
Wolfgang Frobin ◽  
Gunnar Leivseth ◽  
Burkhard Drerup
Keyword(s):  
Human Body ◽  
Center Of Mass ◽  
Moment Of Inertia

Direct Perception and Action Decision for Unknown Object Grasping

2019 ◽  
pp. 1372-1387
Author(s):  
Hiroyuki Masuta ◽  
Tatsuo Motoyoshi ◽  
Kei Sawai ◽  
Ken'ichi Koyanagi ◽  
Toru Oshima ◽  
...  
Keyword(s):  
Relative Position ◽  
Fuzzy Inference ◽  
Perceptual System ◽  
Moment Of Inertia ◽  
Direct Perception ◽  
Physical Parameters ◽  
Robot Arm ◽  
Depth Sensor ◽  
Unknown Object ◽  
Action Decision

This paper discusses the direct perception of an unknown object and the action decision to grasp an unknown object using depth sensor for social robots. Conventional methods estimate the accurate physical parameters when a robot wants to grasp an unknown object. Therefore, we propose a perceptual system based on an invariant concept in ecological psychology, which perceives the information relevant to the action of the robot. Firstly, we proposed the plane detection based approach for perceiving an unknown object. In this paper, we propose the sensation of grasping which is expressed by using inertia tensor, and applied with fuzzy inference using the relation between principle moment of inertia. The sensation of grasping encourages the decision for the grasping action directly without inferring from physical value such as size, posture and shape. As experimental results, we show that the sensation of grasping expresses the relative position and posture between the robot and the object, and the embodiment of the robot arm by one parameter. And, we verify the validity of the action decision from the sensation of grasping.

scholarly journals Quantification of vibrissal mechanical properties across the rat mystacial pad

2019 ◽  
Vol 121 (5) ◽  
pp. 1879-1895 ◽  
Author(s):  
Anne En-Tzu Yang ◽  
Hayley M. Belli ◽  
Mitra J. Z. Hartmann
Keyword(s):  
Mechanical Properties ◽  
Center Of Mass ◽  
Distal Region ◽  
Density Variation ◽  
Average Density ◽  
Proximal Region ◽  
Moment Of Inertia ◽  
Radius Of Gyration ◽  
Mass Moment ◽  
Mass Moment Of Inertia

Recent work has quantified the geometric parameters of individual rat vibrissae (whiskers) and developed equations that describe how these parameters vary as a function of row and column position across the array. This characterization included a detailed quantification of whisker base diameter and arc length as well as the geometry of the whisker medulla. The present study now uses these equations for whisker geometry to quantify several properties of the whisker that govern its mechanical behavior. We first show that the average density of a whisker is lower in its proximal region than in its distal region. This density variation appears to be largely attributable to the presence of the whisker cuticle rather than the medulla. The density variation has very little effect on the center of mass of the whisker. We next show that the presence of the medulla decreases the deflection of the whisker under its own weight and also decreases its mass moment of inertia while sacrificing <1% stiffness at the whisker base compared with a solid whisker. Finally, we quantify two dimensionless parameters across the array. First, the deflection-to-length ratio decreases from caudal to rostral: caudal whiskers are longer but deflect more under their own weight. Second, the nondimensionalized radius of gyration is approximately constant across the array, which may simplify control of whisking by the intrinsic muscles. We anticipate that future work will exploit the mechanical properties computed in the present study to improve simulations of the mechanosensory signals associated with vibrissotactile exploratory behavior. NEW & NOTEWORTHY The mechanical signals transmitted by a whisker depend critically on its geometry. We used measurements of whisker geometry and mass to quantify the center of mass, mass moment of inertia, radius of gyration, and deflection under gravity of the whisker. We describe how variations in these quantities across the array could enhance sensing behaviors while reducing energy costs and simplifying whisking control. Most importantly, we provide derivations for these quantities for use in future simulation work.

scholarly journals Satellite Attitude Control System Simulator

2008 ◽  
Vol 15 (3-4) ◽  
pp. 395-402 ◽  
Author(s):  
G.T. Conti ◽  
L.C.G. Souza
Keyword(s):  
Control System ◽  
Experimental Verification ◽  
Attitude Control ◽  
Parameters Estimation ◽  
Least Square ◽  
Control Algorithms ◽  
Attitude Control System ◽  
Recursive Methods ◽  
Satellite Attitude ◽  
Satellite Attitude Control

Future space missions will involve satellites with great autonomy and stringent pointing precision, requiring of the Attitude Control Systems (ACS) with better performance than before, which is function of the control algorithms implemented on board computers. The difficulties for developing experimental ACS test is to obtain zero gravity and torque free conditions similar to the SCA operate in space. However, prototypes for control algorithms experimental verification are fundamental for space mission success. This paper presents the parameters estimation such as inertia matrix and position of mass centre of a Satellite Attitude Control System Simulator (SACSS), using algorithms based on least square regression and least square recursive methods. Simulations have shown that both methods have estimated the system parameters with small error. However, the least square recursive methods have performance more adequate for the SACSS objectives. The SACSS platform model will be used to do experimental verification of fundamental aspects of the satellite attitude dynamics and design of different attitude control algorithm.

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