Inertia parameter identification of a free-flying space robot

Kazuya Yoshida, Satoko Abiko

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

This paper presents the identification of inertia parameters, such as mass, moment of inertia and product of inertia, of a free flying space robot. Making use of the law of momentum conservation, an identification algorithm which does not require torque or acceleration measurment 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
Pages (from-to)2388-2394
Number of pages7
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume68
Issue number8
Publication statusPublished - 2002 Aug
Externally publishedYes

Fingerprint

Identification (control systems)
Torque
Robots
Conservation
Momentum
Gravitation

Keywords

  • Free-Flying Space Robot
  • Gravity Gradient Torque
  • Inertia Parameter Identification
  • Manipulator Arm
  • The Engineering Test Satellite VII (ETS-VII)

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

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