Skip to main content
SpringerLink
Log in

Mass Characteristic Parameter Identification for a Space Robot Based on Angular Momentum Conservation

  • Conference paper
  • First Online:
2011 International Conference in Electrics, Communication and Automatic Control Proceedings

  • 165 Accesses

Abstract

The parameter identification method for inertial parameters of the base and link on a free-flying space robot is studied according to the angular momentum conservation equation. Firstly, the base and joints of the links are respectively excited with the cubic polynomial trajectory, and then their dynamic parameters are identified using the nonlinear least square algorithm, so that the results of the simulation are effectively proven by the method.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 429.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 549.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 549.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Stamm, S., and Motaghedi, P., Orbital Express Capture System: Concept to Reality[C], Spacecraft Platforms and Infrastructure, Proceedings of SPIE, Vol. 5419, International Society for Optical Engineering, Bellingham, WA, 2004, pp. 78–91.

    Google Scholar 

  2. Liang, B., Li, C., Xue, L., and Qiang, W., A Chinese Small Intelligent Space Robotic System for On-Orbit Servicing[C], International Conference on Intelligent Robots and Systems, Inst. of Electrical and Electronics Engineers, New York, Oct. 2006, pp. 4602–4607.

    Google Scholar 

  3. Angeles, J. Fundamentals of Robotic Mechanical Systems[C]. Theory, Methods and Algorithms, 3rd ed. Springer–Verlag, New York, 2006.

    Google Scholar 

  4. Chatterjee, S., Sensitivity Analysis in Linear Regression[C], Wiley, New York, 1988, pp. 245–263.

    Book  Google Scholar 

  5. Hong Bingrong et al. Modeling and Simulation of Continual Motion Trajectory Control for Space Robot [J]. Robot, 2008, 30(5): 410–415.

    Google Scholar 

  6. Umetani Y, Yoshida K, Resolved Motion Rate Control of Space Manipulators with Generalized Jacobian Matrix [J]. IEEE Transactions on Robotics and Automation, 1989, 5(3):303–314.

    Article  Google Scholar 

  7. Yoshida K, Abiko S. Inertia Parameter Identification for a Free-Flying Space Robot[C]. AIAA Guidance, Navigation, and Control Conference and Exhibit, AIAA Chapter 2002–4568, Monterey, CA, Aug 2002.

    Google Scholar 

  8. Elden, L., Perturbation Theory for the Least Squares Problem with Linear Equality Constraints [J]. SIAM Journal on Numerical Analysis, Vol. 17, No. 3, June 1980, pp. 338–350.

    Article  MathSciNet  MATH  Google Scholar 

  9. Liu Yu, Xia Dan, Li Guixian et al. Dynamic Parameter Identification for a Space Robot Based on Angular Momentum Conservation [J]. Journal of Astronautics, 2010, 31(3): 695–700.

    Google Scholar 

Download references

Acknowledgment

This work is supported by the project of defense preresearch (2009SY4104002, 2010SY4106007) and 863(2008AA1088).

Author information

Authors and Affiliations

  1. The Academy of Equipment Command and Technology, 101416, Beijing, China

    Song Jianjun, Du Xiaoping, Wang Chao & Wang Qiao

  2. The Institute of Computer, College of Computer Science and Technology of Jilin University, 130012, Changchun, China

    Li Xin & Jiang Yu

Authors
  1. Song Jianjun
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Du Xiaoping
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Wang Chao
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Wang Qiao
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Li Xin
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Jiang Yu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Song Jianjun .

Editor information

Editors and Affiliations

  1. Test, Chongqing University of Technology, The Key Laboratory of Manufacture and, Shapingba Three Gorges square Lihai building 14-C1, Chongqing, 400030, China, People's Republic

    Ran Chen

Rights and permissions

Reprints and permissions

Copyright information

© 2012 Springer Science+Business Media, LLC

About this paper

Cite this paper

Jianjun, S., Xiaoping, D., Chao, W., Qiao, W., Xin, L., Yu, J. (2012). Mass Characteristic Parameter Identification for a Space Robot Based on Angular Momentum Conservation. In: Chen, R. (eds) 2011 International Conference in Electrics, Communication and Automatic Control Proceedings. Springer, New York, NY. https://doi.org/10.1007/978-1-4419-8849-2_43

Download citation

  • DOI: https://doi.org/10.1007/978-1-4419-8849-2_43

  • Published:

  • Publisher Name: Springer, New York, NY

  • Print ISBN: 978-1-4419-8848-5

  • Online ISBN: 978-1-4419-8849-2

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation