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

摘要

This paper is concerned with parameter identification methods for inertial parameters of the unknown object handled by manipulators on a free-flying space robot. The parameter identification is necessary for precise control because the payload changes the kinematics of the system together with the dynamics. Two methods are proposed under the condition that the robot is free to translate and rotate. One method is based on the conservation principle of linear and angular momentum and the other on Newton-Euler equations of motion. Only the linear/ angular velocities and accelerations of the satellite base are used in the identification methods with no information about the force and torque utilized. The feasibility of the methods is demonstrated by a hardware experiment on the ground as well as numerical simulation.