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Modeling and Experimental Design for the On-Orbit Inertial Parameter Identification of Free-Flying Space Robots

[+] Author Affiliations
Roberto Lampariello, Gerhard Hirzinger

German Aerospace Center, Oberpfaffenhofen, Germany

Paper No. DETC2005-85242, pp. 881-890; 10 pages
doi:10.1115/DETC2005-85242
From:
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME

abstract

A method is proposed for the identification of the inertial parameters of a free-flying robot directly in orbit, using accelerometers. This can serve to improve the path planning and tracking capabilities of the robot, as well as its efficiency in energy consumption. The method is applied to the identification of the base body and of the load on the end-effector, giving emphasis to the experimental design. The problem of the identification of the full system is also addressed in its theoretical aspects. The experience from the Getex Dynamic Motion experiments performed on the ETS-VII satellite have allowed to determine a most suitable model for the identification.

Copyright © 2005 by ASME

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