Parameter identification of unknown object handled by free-flying space robot

1992 ◽  
Author(s):  
YOSHISADA MUROTSU ◽  
SHOWZOW TSUJIO ◽  
KEI SENDA ◽  
MITSUHIRO OZAKI
Keyword(s):  
Parameter Identification ◽  
Space Robot ◽  
Unknown Object

Parameter identification of unknown object handled by free-flying space robot

1994 ◽  
Vol 17 (3) ◽  
pp. 488-494 ◽  
Author(s):  
Yoshisada Murotsu ◽  
Kei Senda ◽  
Mitsuhiro Ozaki ◽  
Showzow Tsujio
Keyword(s):  
Parameter Identification ◽  
Space Robot ◽  
Unknown Object

scholarly journals Inertia Parameter Identification for an Unknown Satellite in Precapture Scenario

2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Xiao-Feng Liu ◽  
Xiao-Yu Zhang ◽  
Pei-Ran Chen ◽  
Guo-Ping Cai
Keyword(s):  
Parameter Identification ◽  
Momentum Conservation ◽  
Space Robot ◽  
Control Force ◽  
Soft Contact ◽  
Identification Scheme ◽  
Inertia Parameter ◽  
Inertia Parameters ◽  
Dynamics And Control ◽  
And Control

The problem of dynamics and control using a space robot to capture a noncooperative satellite is an important issue for on-orbit services. Inertia parameters of the satellite should be identified before capturing such that the robot can design an active controller to finish the capturing task. In this paper, a new identification scheme is proposed for parameter identification of a noncooperative satellite. In this scheme, the space robot is controlled to contact softly and then maintain contact with the noncooperative target firstly, then the variation of momentum of the target during the contact-maintaining phase is calculated using the control force and torque acting on the base of the space robot and the kinematic information of the space robot, and finally, the momentum-conservation-based identification method is used to estimate inertia parameters of the target. To realize soft contact and then maintain contact, a damping contact controller is designed in this paper, in which a mass-damping system is designed to control the contact between the robot and the target. Soft contact and then contact maintenance can be realized by utilizing the buffering characteristics of the mass-damping system. The effectiveness of the proposed identification scheme is verified through numerical simulations at the end of this paper. Simulation results indicate that the proposed scheme can achieve high-precision identification results.

Parameter Identification of Inertia Properties of Space Robot Based on Momentum Conservation

2011 ◽  
Vol 328-330 ◽  
pp. 1916-1921 ◽  
Author(s):  
Chao Wang ◽  
Yong Ming Gao ◽  
Xiao Ping Du
Keyword(s):  
Parameter Identification ◽  
Momentum Conservation ◽  
Inertia Tensor ◽  
Space Robot ◽  
Second Step ◽  
Mass Center ◽  
Unknown Parameters ◽  
Initial Momentum ◽  
Precise Control ◽  
Inertia Properties

The parameter identification is necessary for precise control orbit and attitude of Space Robot. This paper presents a method for parameter identification of inertia properties of space robot which is based on the momentum conservation. As the initial momentum of the Space Robot is hardly known, we have to discuss detailed in two options. The first option, the initial momentum is known and assumes it is zero, then we can solve all the unknown parameters in the momentum equations; the second it’s unknown, it has to be solved in two steps. The first step is to identify the mass and mass center of the spacecraft; and the second step is to identify the inertia tensor of the spacecraft. In the end, we build the model for simulation; the result shows that the method has the high precise and the error can be ignored.

Parameter Identification of a Grasp by a Planar Two-Fingered Robot Hand

1993 ◽  
Vol 5 (1) ◽  
pp. 12-18 ◽  
Author(s):  
Nobuharu Mimura ◽  
◽  
Yasuyuki Funahashi ◽  
Keyword(s):  
Parameter Identification ◽  
Robot Hand ◽  
Joint Angles ◽  
Unknown Parameters ◽  
Numerical Example ◽  
Contact Points ◽  
Unknown Object

Unknown forced and unknown contact points for the case in which a planar two-fingered robot hand achieves a stable grasp on an unknown object are identified in this paper. It is shown that the unknown parameters of the grasping system can be identified by detection of joint angles and torques while the object is manipulated slightly. Finally, it is illustrated by a numerical example that the algorithm of the grasp parameter identification is valid.

scholarly journals Momentum Model-Based Minimal Parameter Identification of a Space Robot

2019 ◽  
Vol 42 (3) ◽  
pp. 508-523 ◽  
Author(s):  
B. Naveen ◽  
Suril V. Shah ◽  
Arun K. Misra
Keyword(s):  
Parameter Identification ◽  
Space Robot ◽  
Model Based

Dynamic Parameter Identification of Unknown Object Handled by Space Manipulator

2014 ◽  
Vol 487 ◽  
pp. 276-281 ◽  
Author(s):  
Gang Chen ◽  
Zhi Lian Chen ◽  
Qing Xuan Jia ◽  
Han Xu Sun
Keyword(s):  
Parameter Identification ◽  
Dynamic Characteristic ◽  
Dynamic Parameter ◽  
Momentum Conservation ◽  
Dynamic Parameters ◽  
Robot System ◽  
Space Manipulator ◽  
Experimental Process ◽  
Dynamic Parameter Identification ◽  
Unknown Object

This paper presents a dynamic parameter identification method of the unknown object handled by manipulator. Since the load will change the dynamic characteristic of space robot system, it is necessary to identify the dynamic parameters of the handled object. The dynamic parameters of the handled object are identified based on principle of momentum conservation in this paper. The principle and experimental process of the identification is introduced and the feasibility of the method is verified by simulation.

scholarly journals Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger

2012 ◽  
Vol 2012 ◽  
pp. 1-11 ◽  
Author(s):  
Yu Liu ◽  
Zainan Jiang ◽  
Hong Liu ◽  
Wenfu Xu
Keyword(s):  
Parameter Identification ◽  
Geometric Parameter ◽  
Jacobian Matrix ◽  
Geometric Parameters ◽  
Space Robot ◽  
Orientation Error ◽  
End Effector ◽  
Identification Method ◽  
Observability Index ◽  
Position And Orientation

The geometric parameters of a space robot change with the terrible temperature change in orbit, which will cause the end-effector pose (position and orientation) error of a space robot, and so weakens its operability. With this in consideration, a new geometric parameter identification method is presented based on a laser-ranger attached to the end-effector. Then, independence of the geometric parameters is analyzed, and their identification equations are derived. With the derived identification Jacobian matrix, the optimal identification configurations are chosen according to the observability indexO3. Subsequently, through simulation the geometric parameter identification of a 6-DOF space robot is implemented for these identification configurations, and the identified parameters are verified in a set of independent reference configurations. The result shows that in spite of distance measurement alone, pose accuracy of the space robot still has a greater improvement, so the identification method is practical and valid.

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