On-orbit identifying the inertia parameters of space robotic systems using simple equivalent dynamics

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• 作者：Wenfu Xu^a ; ^{wfxu@hit.edu.cn} ; Zhonghua Hu^a ; ^{hitsz_hzh@163.com} ; Yu Zhang^a ; ^{zy_hitsz@163.com} ; Bin Liang^a ; ^b ; ^{bliang@mail.tsinghua.edu.cn}
• 关键词：Space robot ; Space manipulator ; Inertia parameters identification ; On-orbit servicing ; Simple equivalent dynamics
• 刊名：Acta Astronautica
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：132
• 期：Complete
• 页码：131-142
• 全文大小：1163 K
• 卷排序：132

文摘

Only two types of simple dynamics systems are required identified. Identification problems are transformed into non-linear optimization problems. The PSO algorithm is applied to determine the optimal parameters. Complete inertia parameters of a space robotic system in 3D can be identified. Not requiring prior knowledge of the mass properties of any body.