Dynamics-based mass property identification of non-cooperative space target

Author

Haibo Zhang ; Liang Tang ; Chunling Wei

Author_Institution

Beijing Inst. of Control & Eng., Beijing, China

fYear

2014

fDate

28-29 Sept. 2014

Firstpage

1

Lastpage

5

Abstract

A novel dynamics-based identification methodology is presented in this paper. This approach is able to identify the total mass property of space robot after capturing non-cooperative target, and recursive least square algorithm is applied to implement that identification. Based on the modeling method of multi-body dynamics and geometric relationship, the mass property parameters of the jointing non-cooperative target and the end effector are obtained. Simulation results are also presented to verify the effectiveness of the proposed identification algorithm.

Keywords

aerospace robotics; end effectors; identification; modelling; robot dynamics; simulation; capturing noncooperative target; dynamics-based identification methodology; dynamics-based mass property identification; end effector; geometric relationship; jointing noncooperative target; mass property parameters; modeling method; multibody dynamics; noncooperative space target; recursive least square algorithm; simulation results; space robot; total mass property; Aerospace electronics; End effectors; Heuristic algorithms; Space vehicles; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Information Integration for Intelligent Systems (MFI), 2014 International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4799-6731-5

Type

conf

DOI

10.1109/MFI.2014.6997758

Filename

6997758