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Joint Dynamics Modeling and Parameter Identification for Space Robot Applications

da Silva, A.R. and Schäfer, Bernd and de Souza, L.C.G. (2007) Joint Dynamics Modeling and Parameter Identification for Space Robot Applications. MPE open access journal (Article ID 12361). Hindawi Publishing Corporation.

Full text not available from this repository.

Official URL: http://www.hindawi.com/journals/mpe/

Abstract

Long-term mission identification and model validation for in-flight manipulator control system in almost zero gravity with hostile space environment are extremely important for robotic applications. In this paper, a robot joint mathematical model is developed where several nonlinearities have been taken into account. In order to identify all the required system parameters, an integrated identification strategy is derived. This strategy makes use of a robust version of least-squares procedure (LS) for getting the initial conditions and a general nonlinear optimization method (MCS—multilevel coordinate search—algorithm) to estimate the nonlinear parameters. The approach is applied to the intelligent robot joint (IRJ) experiment that was developed at DLR for utilization opportunity on the International Space Station (ISS). The results using real and simulated measurements have shown that the developed algorithm and strategy have remarkable features in identifying all the parameters with good accuracy.

Document Type:Article
Title:Joint Dynamics Modeling and Parameter Identification for Space Robot Applications
Authors:
AuthorsInstitution or Email of Authors
da Silva, A.R. Space System Division, National Institute for Space Research (INPE), São José dos Campos, Brazil
Schäfer, BerndUNSPECIFIED
de Souza, L.C.G. Space System Division, National Institute for Space Research (INPE), São José dos Campos, Brazil
Date:2007
Journal or Publication Title:MPE open access journal
Refereed publication:Yes
In ISI Web of Science:No
Editors:
EditorsEmail
Manoel, BalthazarUNSPECIFIED
Publisher:Hindawi Publishing Corporation
Series Name:doi:10.1155/2007/12361
Status:Published
Keywords:Space Robot Applications
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Vorhaben On-Orbit Servicing (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:21 Jan 2008
Last Modified:27 Apr 2009 14:41

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