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Rackl, Wolfang und Lampariello, Roberto und Albu-Schäffer, Alin (2013) Parameter Identification Methods for Free-Floating Space Robots with direct Torque Sensing. In: 19th IFAC Symposium on Automatic Control in Aerospace, ACA 2013, 19th. Inernational Federation of Automatic Control. 19th IFAC Symposium on Automatic Control in Aerospace, 2013-09-02 - 2013-09-06, Würzburg, Germany. doi: 10.3182/20130902-5-DE-2040.00121. ISSN 0967-0661.
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Offizielle URL: http://www7.informatik.uni-wuerzburg.de/conferences/aca2013/
Kurzfassung
In this paper we address the problem of parameter identification for free-floating space robots equipped with torque sensors. For the problem formulation we use two different methods. The first uses measurements of the acceleration of the base body, while the second doesn't. These two torque dependent methods are compared with those based on the conservation of momentum or conservation of energy. The addressed identification problems relate to the base body, to the grasped target on the end effector or to both together. Furthermore the influence of orbital disturbances on the identification accuracy is addressed. The feasibility of the torque sensing methods is shown in simulation with addition of sensor noise and it results that the method which does not use the base body acceleration is the most accurate.
| elib-URL des Eintrags: | https://elib.dlr.de/86310/ | ||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
| Titel: | Parameter Identification Methods for Free-Floating Space Robots with direct Torque Sensing | ||||||||||||||||
| Autoren: |
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| Datum: | September 2013 | ||||||||||||||||
| Erschienen in: | 19th IFAC Symposium on Automatic Control in Aerospace, ACA 2013 | ||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||
| Open Access: | Nein | ||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||
| Band: | 19th | ||||||||||||||||
| DOI: | 10.3182/20130902-5-DE-2040.00121 | ||||||||||||||||
| Verlag: | Inernational Federation of Automatic Control | ||||||||||||||||
| ISSN: | 0967-0661 | ||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||
| Stichwörter: | Parameter Identification, Space Robotics, Dynamic Modelling, Moments of Inertia, Nonlinear Models, Joint Trajectories | ||||||||||||||||
| Veranstaltungstitel: | 19th IFAC Symposium on Automatic Control in Aerospace | ||||||||||||||||
| Veranstaltungsort: | Würzburg, Germany | ||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
| Veranstaltungsbeginn: | 2 September 2013 | ||||||||||||||||
| Veranstaltungsende: | 6 September 2013 | ||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Mechatronische Komponenten und Systeme | ||||||||||||||||
| Hinterlegt von: | Rackl, Wolfgang | ||||||||||||||||
| Hinterlegt am: | 11 Dez 2013 16:42 | ||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 19:52 |
Verfügbare Versionen dieses Eintrags
- Parameter Identification Methods for Free-Floating Space Robots with direct Torque Sensing. (deposited 11 Dez 2013 16:42) [Gegenwärtig angezeigt]
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