TY - GEN
T1 - Inertia parameter identification for a free-flying space robot
AU - Yoshida, Kazuya
AU - Abiko, Satoko
PY - 2002
Y1 - 2002
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85087598139&partnerID=8YFLogxK
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U2 - 10.2514/6.2002-4568
DO - 10.2514/6.2002-4568
M3 - Conference contribution
AN - SCOPUS:85087598139
SN - 9781563479786
SN - 9781624101083
T3 - AIAA Guidance, Navigation, and Control Conference and Exhibit
BT - AIAA Guidance, Navigation, and Control Conference and Exhibit
PB - American Institute of Aeronautics and Astronautics Inc.
T2 - AIAA Guidance, Navigation, and Control Conference and Exhibit 2002
Y2 - 5 August 2002 through 8 August 2002
ER -