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Inertial parameter identification using contact force information for an unknown object captured by a space manipulator.pdf

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Inertial parameter identification using contact force information for an unknown object captured by a space manipulator.pdf

Acta Astronautica 131 (2017) 69–82 Contents lists available at ScienceDirect Acta Astronautica journal homepage: /locate/aa Inertial parameter identi?cation using contact force information for an unknown object captured by a space manipulator Zhongyi Chua,?, Ye Maa, Yueyang Houb, Fengwen Wangb a School of Instrument Science and Opto-Electronics, Beihang University, 37 Xueyuan Road, Beijing 100191, China b Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai Institute of Space?ight Control Technology, 1555 Zhongchun Road, Shanghai 201109, China MARK ARTICLE INFO Keywords: Space unknown object Inertial parameter Contact force RLS-APSA Identi?cation ABSTRACT This paper presents a novel identi?cation method for the intact inertial parameters of an unknown object in space captured by a manipulator in a space robotic system. With strong dynamic and kinematic coupling existing in the robotic system, the inertial parameter identi?cation of the unknown object is essential for the ideal control strategy based on changes in the attitude and trajectory of the space robot via capturing operations. Conventional studies merely refer to the principle and theory of identi?cation, and an error analysis process of identi?cation is de?cient for a practical scenario. To solve this issue, an analysis of the e?ect of errors on identi?cation is illustrated ?rst, and the accumulation of measurement or estimation errors causing poor identi?cation precision is demonstrated. Meanwhile, a modi?ed identi?cation equation incorporating the contact force, as well as the force/torque of the end-e?ector, is proposed to weaken the accumulation of errors and improve the identi?cation accuracy. Furthermore, considering a severe disturbance condition caused by various measured noises, the hybrid immune algorithm, Recursive Least Squares and A?ne Projection Sign Algorithm (RLS-APSA), is employed to decode the modi?ed identi?cation equation to ensure a stable identi?cation property