Parametric Identification for a Free-Floating Base Space Manipulator

Abstract:

In this paper parametric identification algorithms are applied to estimate dynamic parameters of a space manipulator, whose model is described through the Dynamically Equivalent Manipulator approach. Gradient and least-square methods are applied in order to evaluate capability of the schemes. A sufficiently rich input signal is applied as reference trajectory for joints position, while a simple model-based PID computed torque control scheme is responsible for keeping the trajectory tracking. Simulation results for a two degree-of-freedom space manipulator have shown the effectiveness of the proposal.

• Periodical: Applied Mechanics and Materials (Volumes 490-491)
• Pages: 1151-1156
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.490-491.1151
• Online since: January 2014
• Authors: William Takeshi Pereira*, Tatiana F.P.A.T. Pazelli
• Keywords: Gradient Method, Least-Square Method (LSM), Parametric Identification, Space Manipulators

References

[1] S. Dubowsky and E. Papadopoulos, The Kinematics, Dynamics, and Control of Free-Flying and Free-Floating Space Robotic Systems. IEEE Transactions on Robotics and Automation, vol. 9, no. 5, p.531–543, Oct 1993, doi: 10. 1109/70. 258046.

DOI: 10.1109/70.258046

[2] P. A. Ioannou and B. Fidan, Adaptive Control Tutorial: Advances in Design and Control. Philadelphia: SIAM: Society for Industrial and Applied Mathematics, (2006).

[3] B. Liang, Y. Xu, and M. Bergerman, Dynamically Equivalent Manipulator for Space Manipulator System: Part 1, in IEEE International Conference on Robotics and Automation (ICRA), vol. 4, Albuquerque, USA, Apr 1997, p.2765.

DOI: 10.1109/robot.1997.606705

[4] M. W. Spong and M. Vidyasagar, Robot Dynamics and Control. John Wiley and Sons, Inc., (1989).

[5] M. Brady, J. Hollerbach, T. Johnson, T. Lozano-Perez and M. Mason, Robot Motion - Planning and Control. Cambridge MA: MIT Press, (1982).