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Rackl, Wolfang and Lampariello, Roberto and 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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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/95027/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
| Title: | Parameter Identification Methods for Free-Floating Space Robots with direct Torque Sensing | ||||||||||||||||
| Authors: |
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| Date: | September 2013 | ||||||||||||||||
| Journal or Publication Title: | 19th IFAC Symposium on Automatic Control in Aerospace, ACA 2013 | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | No | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||
| Volume: | 19th | ||||||||||||||||
| DOI: | 10.3182/20130902-5-DE-2040.00121 | ||||||||||||||||
| 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 Start Date: | 2 September 2013 | ||||||||||||||||
| Event End Date: | 6 September 2013 | ||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||
| DLR - Research theme (Project): | R - Terrestrial Assistance Robotics (old) | ||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems | ||||||||||||||||
| Deposited By: | Rackl, Wolfgang | ||||||||||||||||
| Deposited On: | 13 Feb 2015 18:03 | ||||||||||||||||
| Last Modified: | 24 Apr 2024 20:00 |
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