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Parameter Identification of Free-Floating Robots with Flexible Appendages and Fuel Sloshing

Rackl, Wolfgang and Lampariello, Roberto (2014) Parameter Identification of Free-Floating Robots with Flexible Appendages and Fuel Sloshing. In: 6th International Conference on Modeling, Identification and Control - ICMIC 2014. International Conference of Modelling, Identification and Control ICMIC, 3.-5. Dez. 2014, Melbourne, Australien.

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Abstract

n this paper we adressed the effects of flexibilities and liquid fuel sloshing on the on-orbit robotics-based dynamic parameter identification. For modelling the liquid fuel sloshing we combined the general free-floating robot dynamics with a mechanical pendulum equivalent model. For the dynamic parameter identification we extended our identification algorithm for rigid body systems to account for these two effects. The flexible and sloshing modes are excited only with the manipulator executing optimized trajectories. For the identification algorithm we make use of the robotic joint position and torque sensor data as well as of on board GNC sensor data. Numerical simulations showed that the two effects can have significant influence to the free-floating dynamics. Furthermore, we showed that the extended parameter identification algorithm improves the accuracy of the dynamic model.

Item URL in elib:https://elib.dlr.de/93987/
Document Type:Conference or Workshop Item (Speech)
Title:Parameter Identification of Free-Floating Robots with Flexible Appendages and Fuel Sloshing
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Rackl, WolfgangWolfgang.Rackl (at) dlr.deUNSPECIFIED
Lampariello, RobertoRoberto.Lampariello (at) dlr.deUNSPECIFIED
Date:2014
Journal or Publication Title:6th International Conference on Modeling, Identification and Control - ICMIC 2014
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Parameter identification, robotics, free-floating robots
Event Title:International Conference of Modelling, Identification and Control ICMIC
Event Location:Melbourne, Australien
Event Type:international Conference
Event Dates:3.-5. Dez. 2014
Organizer:Swinburne University of Technology, IEEE
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 on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Rackl, Wolfgang
Deposited On:08 Jan 2015 11:39
Last Modified:31 Jul 2019 19:50

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