Inertia Parameter Identification of a Free-Flying Space Robot

Kazuya Yoshida; Satoko Abiko

doi:10.1299/kikaic.68.2388

Inertia Parameter Identification of a Free-Flying Space Robot

Kazuya Yoshida, Satoko Abiko

Research output: Contribution to journal › Article › peer-review

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 language	English
Pages (from-to)	2388-2394
Number of pages	7
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	68
Issue number	672
DOIs	https://doi.org/10.1299/kikaic.68.2388
Publication status	Published - 2002
Externally published	Yes

Keywords

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

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.68.2388

Cite this

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AU - Abiko, Satoko

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KW - Free-Flying Space Robot

KW - Gravity Gradient Torque

KW - Inertia Parameter Identification

KW - Manipulator Arm

KW - The Engineering Test Satellite VII (ETS-VII)

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Inertia Parameter Identification of a Free-Flying Space Robot

Abstract

Keywords

ASJC Scopus subject areas

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