Title :
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
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;
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
DOI :
10.1109/MFI.2014.6997758
