Dynamic Parameter Identification of Unknown Object Handled by Space Manipulator

Gang Chen; Zhi Lian Chen; Qing Xuan Jia; Han Xu Sun

doi:10.4028/www.scientific.net/AMM.487.276

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 487Dynamic Parameter Identification of Unknown Object...

Dynamic Parameter Identification of Unknown Object Handled by Space Manipulator

Abstract:

This paper presents a dynamic parameter identification method of the unknown object handled by manipulator. Since the load will change the dynamic characteristic of space robot system, it is necessary to identify the dynamic parameters of the handled object. The dynamic parameters of the handled object are identified based on principle of momentum conservation in this paper. The principle and experimental process of the identification is introduced and the feasibility of the method is verified by simulation.

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Periodical:

Applied Mechanics and Materials (Volume 487)

Pages:

276-281

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.487.276

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Online since:

January 2014

Authors:

Gang Chen*, Zhi Lian Chen, Qing Xuan Jia, Han Xu Sun

Keywords:

Dynamics Identification, Momentum Conservation, Space Manipulator

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* - Corresponding Author

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