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Parameter Identification Methods for Free-Floating Space Robots with direct Torque Sensing

Rackl, Wolfang and Lampariello, Roberto and Albu-Schäffer, Alin (2013) Parameter Identification Methods for Free-Floating Space Robots with direct Torque Sensing. In: IFAC Symposium on Automatic Control in Aerospace (ISSN: 0967-0661), 19th. Inernational Federation of Automatic Control. 19th IFAC Symposium on Automatic Control in Aerospace, 02 Sep - 06 Sep 2013 , Würzburg, Germany. ISSN 0967-0661

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Official URL: http://www7.informatik.uni-wuerzburg.de/conferences/aca2013/

Abstract

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.

Item URL in elib:https://elib.dlr.de/86310/
Document Type:Conference or Workshop Item (Speech)
Title:Parameter Identification Methods for Free-Floating Space Robots with direct Torque Sensing
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Rackl, WolfangWolfgang.Rackl (at) dlr.deUNSPECIFIED
Lampariello, RobertoRoberto.Lampariello (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:September 2013
Journal or Publication Title:IFAC Symposium on Automatic Control in Aerospace (ISSN: 0967-0661)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Volume:19th
Publisher:Inernational Federation of Automatic Control
ISSN:0967-0661
Status:Published
Keywords:Parameter Identification, Space Robotics, Dynamic Modelling, Moments of Inertia, Nonlinear Models, Joint Trajectories
Event Title:19th IFAC Symposium on Automatic Control in Aerospace
Event Location:Würzburg, Germany
Event Type:international Conference
Event Dates:02 Sep - 06 Sep 2013
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Rackl, Wolfgang
Deposited On:11 Dec 2013 16:42
Last Modified:09 Feb 2017 19:19

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