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    Online One-Step Parameter Identification Method for a Space Robot with Initial Momentum in Postcapture

    Source: Journal of Aerospace Engineering:;2020:;Volume ( 033 ):;issue: 004
    Author:
    Teng Zhang
    ,
    Xiaokui Yue
    ,
    Bo Dou
    ,
    Jianping Yuan
    DOI: 10.1061/(ASCE)AS.1943-5525.0001130
    Publisher: ASCE
    Abstract: For precise attitude control of space robots intended to capture a target, the inertial parameters of the target need to be well estimated because the motions of arms and bases are coupled. This paper presents a momentum-based, online, one-step identification method for estimating inertial parameters of tumbling targets with linear momentum by space robots after capture. For obtaining the target’s mass and mass center, the method is the same as the traditional momentum-based method, while two contributions are made for identifying inertia tensor. The first contribution is the second-order term mnrn×vn in the identification equation is written as the product of two functions: function of time and function of mass and mass center of the target. Secondly, the traditional recursive least squares (RLS) method is modified to obtain the corresponding inertia tensor without iteration from the beginning. To verify the validity and feasibility of the proposed identification technique, 2D and 3D models with different targets and initial velocities are both simulated and analyzed. The simulation results show that all the estimated values converge to their ideal values and the method can be easily achieved online via recursive techniques.
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      Online One-Step Parameter Identification Method for a Space Robot with Initial Momentum in Postcapture

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4266639
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    contributor authorTeng Zhang
    contributor authorXiaokui Yue
    contributor authorBo Dou
    contributor authorJianping Yuan
    date accessioned2022-01-30T20:10:41Z
    date available2022-01-30T20:10:41Z
    date issued2020
    identifier other%28ASCE%29AS.1943-5525.0001130.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4266639
    description abstractFor precise attitude control of space robots intended to capture a target, the inertial parameters of the target need to be well estimated because the motions of arms and bases are coupled. This paper presents a momentum-based, online, one-step identification method for estimating inertial parameters of tumbling targets with linear momentum by space robots after capture. For obtaining the target’s mass and mass center, the method is the same as the traditional momentum-based method, while two contributions are made for identifying inertia tensor. The first contribution is the second-order term mnrn×vn in the identification equation is written as the product of two functions: function of time and function of mass and mass center of the target. Secondly, the traditional recursive least squares (RLS) method is modified to obtain the corresponding inertia tensor without iteration from the beginning. To verify the validity and feasibility of the proposed identification technique, 2D and 3D models with different targets and initial velocities are both simulated and analyzed. The simulation results show that all the estimated values converge to their ideal values and the method can be easily achieved online via recursive techniques.
    publisherASCE
    titleOnline One-Step Parameter Identification Method for a Space Robot with Initial Momentum in Postcapture
    typeJournal Paper
    journal volume33
    journal issue4
    journal titleJournal of Aerospace Engineering
    identifier doi10.1061/(ASCE)AS.1943-5525.0001130
    page04020029
    treeJournal of Aerospace Engineering:;2020:;Volume ( 033 ):;issue: 004
    contenttypeFulltext
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian
     
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian