Inertia parameter identification for a free-flying space robot

Kazuya Yoshida; Satoko Abiko

doi:10.2514/6.2002-4568

Inertia parameter identification for a free-flying space robot

Kazuya Yoshida, Satoko Abiko

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

63 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 language	English
Title of host publication	AIAA Guidance, Navigation, and Control Conference and Exhibit
Publisher	American Institute of Aeronautics and Astronautics Inc.
ISBN (Print)	9781563479786, 9781624101083
DOIs	https://doi.org/10.2514/6.2002-4568
Publication status	Published - 2002
Externally published	Yes
Event	AIAA Guidance, Navigation, and Control Conference and Exhibit 2002 - Monterey, CA, United States Duration: 2002 Aug 5 → 2002 Aug 8

Publication series

Name	AIAA Guidance, Navigation, and Control Conference and Exhibit

Conference

Conference	AIAA Guidance, Navigation, and Control Conference and Exhibit 2002
Country/Territory	United States
City	Monterey, CA
Period	02/8/5 → 02/8/8

ASJC Scopus subject areas

Aerospace Engineering
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.2514/6.2002-4568

Cite this

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. (AIAA Guidance, Navigation, and Control Conference and Exhibit).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yoshida, K & Abiko, S 2002, Inertia parameter identification for a free-flying space robot. in AIAA Guidance, Navigation, and Control Conference and Exhibit. 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. https://doi.org/10.2514/6.2002-4568

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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.

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M3 - Conference contribution

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T3 - AIAA Guidance, Navigation, and Control Conference and Exhibit

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Y2 - 5 August 2002 through 8 August 2002

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Inertia parameter identification for a free-flying space robot

Abstract

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Conference

ASJC Scopus subject areas

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