Inertia parameter identification for a free-flying space robot

Kazuya Yoshida, Satoko Abiko

Research output: Chapter in Book/Report/Conference proceedingConference contribution

50 Citations (Scopus)

Abstract

This paper presents the identification of inertia parameters, such as mass, moment of inertia and the product of inertia, for a free-flying space robot. Making use of the conservation of momentum, an identification algorithm that does not require torque or acceleration measurement is developed. Gravity gradient torques are also used to identify the product of inertia. The algorithm is verified with the flight data obtained by the ETS-VII, Japanese space robot.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781624101083
Publication statusPublished - 2002
Externally publishedYes
EventAIAA Guidance, Navigation, and Control Conference and Exhibit 2002 - Monterey, CA, United States
Duration: 2002 Aug 52002 Aug 8

Other

OtherAIAA Guidance, Navigation, and Control Conference and Exhibit 2002
CountryUnited States
CityMonterey, CA
Period02/8/502/8/8

Fingerprint

Identification (control systems)
Robots
Torque measurement
Acceleration measurement
Conservation
Momentum
Gravitation
Torque

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Yoshida, K., & Abiko, S. (2002). Inertia parameter identification for a free-flying space robot. In AIAA Guidance, Navigation, and Control Conference and Exhibit American Institute of Aeronautics and Astronautics Inc..

Inertia parameter identification for a free-flying space robot. / Yoshida, Kazuya; Abiko, Satoko.

AIAA Guidance, Navigation, and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics Inc., 2002.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yoshida, K & Abiko, S 2002, Inertia parameter identification for a free-flying space robot. in AIAA Guidance, Navigation, and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics Inc., AIAA Guidance, Navigation, and Control Conference and Exhibit 2002, Monterey, CA, United States, 02/8/5.
Yoshida K, Abiko S. Inertia parameter identification for a free-flying space robot. In AIAA Guidance, Navigation, and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics Inc. 2002
Yoshida, Kazuya ; Abiko, Satoko. / Inertia parameter identification for a free-flying space robot. AIAA Guidance, Navigation, and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics Inc., 2002.
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