Abstract
In this paper, a new parameter identification scheme is proposed for an unknown tumbling target captured by the space manipulator. Due to the unknown and various dynamic parameters of the target and the strong nonlinear characteristics of the manipulator, it is difficult to achieve the capture operation with high tracking accuracy and low energy consumption. Aiming at the challenge, the parameter identification model of free-floating space manipulator is established based on the momentum conservation principle. Then, the VDW-RLS (variable data-window-size recursive least square) algorithm is applied to identify the inertia parameters. VDW-RLS algorithm can adjust the size of data window online according to the change of system parameters. SimMechanics simulation platform is employed to implement the three-dimensional model of 7-DOFs manipulator system. Simulation results show that the proposed algorithm has a fast tracking performance and low misalignment in the inertial parameter identification of the multi-DOFs space manipulator, and the control effect can be further improved by using the identified dynamic parameters.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Wang, M., Luo, J., Yuan, J.: Detumbling strategy and coordination control of kinematically redundant space robot after capturing a tumbling target. Nonlinear Dyn. 92(3), 1023–1043 (2018)
Aghili, F.: Coordination control of a free-flying manipulator and its base attitude to capture and detumble a noncooperative satellite. In: IEEE/RSJ International Conference on Intelligent Robots & Systems. IEEE Press (2009)
Stolfi, A., Gasbarri, P., Sabatini, M.: A combined impedance-PD approach for controlling a dual-arm space manipulator in the capture of a non-cooperative target. Acta Astronautica 139, 243–253 (2017)
Aghili, F., Parsa, K.: Motion and parameter estimation of space objects using laser-vision data. J. Guid. Control Dyn. 32(2), 538–550 (2009)
Hillenbrand, U., Lampariello, R.: Motion and parameter estimation of a free-floating space object from range data for motion prediction. In: 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, DLR (2005)
Murotsu, Y., Senda, K., Ozaki, M.: Parameter identification of unknown object handled by free-flying space robot. J. Guid. Control Dyn. 17(3), 488–494 (1994)
Yoshida, K., Abiko, S.: Inertia parameter identification of a free-flying space robot. Trans. Jpn. Soc. Mech. Eng. AIAA 68(672), 2002–4568 (2002)
Ou, M., Dang, H., Pham, K.: On-orbit identification of inertia properties of spacecraft using a robotic arm. J. Guid. Control Dyn. 31(6), 1761–1771 (2012)
Wilson, E., Lages, C., Mah, R.: On-line gyro-based, mass-property identification for thruster-controlled spacecraft using recursive least squares. In: Symposium on Circuits & Systems. IEEE (2002)
Goodwin, G.C., Teoh, E.K., Elliott, H.: Deterministic convergence of a self-tuning regulator with covariance resetting. IEE Proc. D Control Theory Appl. 130(1), 6–8 (1983)
Ding, F., Xiao, Y.: A finite-data-window least squares algorithm with a forgetting factor for dynamical modeling. Appl. Math. Comput. 186(1), 184–192 (2007)
Yu, S.C., Cho, H.: Variable data-window-size recursive least-squares algorithm for dynamic system identification. Electron. Lett. 51(4), 341–343 (2015)
Chu, Z., Ma, Y., Cui, J.: Adaptive reactionless control strategy via the PSO-ELM algorithm for free-floating space robots during manipulation of unknown objects. Nonlinear Dyn. (2017)
Nguyen-Huynh, T.C., Sharf, I.: Adaptive reactionless motion and parameter identification in postcapture of space debris. J. Guid. Control Dyn. 36(2), 404–414 (2013)
Acknowledgement
This study was supported by National Natural Science Foundation of China (Grant No. 61773254), Shanghai Sailing Program (Grant No. 17YF1406200), Shanghai Young Eastern Scholar Program (Grant No. QD2016029), and Shanghai civil-military integration program (Grant No. JMRH-2018-1043).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Xu, J., Yang, Y., Peng, Y., Li, X., Zheng, S., Cui, J. (2019). An Adaptive Parameter Identification Algorithm for Post-capture of a Tumbling Target. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11743. Springer, Cham. https://doi.org/10.1007/978-3-030-27538-9_35
Download citation
DOI: https://doi.org/10.1007/978-3-030-27538-9_35
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-27537-2
Online ISBN: 978-3-030-27538-9
eBook Packages: Computer ScienceComputer Science (R0)