The interactive parameters estimation of multiple space robot manipulators

During the operation process of multiple space robot manipulators, the estimation problem of manipulators inherent parameters and target inertial parameters should be solved first. In this paper, we propose an interactive identification algorithm for this problem. This method considers convergence and consensus of estimated results in the meantime. A further application of this method in structure shock model parameters of flexible link manipulators and inertial parameters of the object grasping by multiple robots is presented. In addition, we make a further discussion and analysis about the convergence of this method in the situation of dropping back and containing invalid data. The simulation results show t hat compared with respective estimated results, the estimated results converge faster with smaller errors, which is effective to avoid the influence of non-white noise and discontinuous invalid measured data. We conclude this paper in the end.