Parameter Identification of Inertia Properties of Space Robot Based on Momentum Conservation

摘要：

The parameter identification is necessary for precise control orbit and attitude of Space Robot. This paper presents a method for parameter identification of inertia properties of space robot which is based on the momentum conservation. As the initial momentum of the Space Robot is hardly known, we have to discuss detailed in two options. The first option, the initial momentum is known and assumes it is zero, then we can solve all the unknown parameters in the momentum equations; the second its unknown, it has to be solved in two steps. The first step is to identify the mass and mass center of the spacecraft; and the second step is to identify the inertia tensor of the spacecraft. In the end, we build the model for simulation; the result shows that the method has the high precise and the error can be ignored.

关键词： space robot inertia properties momentum conservation

作者: Chao Wang Yongming Gao Xiaoping Du

作者单位: The Academy of Equipment Command & Technology Beijing, 101416, China

会议类型: 国际会议

会议名称: 2011 International Conference on Mechatronics and Materials Processing(2011年机电一体化与材料加工国际会议 ICMMP)

会议地点: 广州

会议语种:英文

页码: 1916-1921

在线出版日期: 2011-11-18（万方平台首次上网日期，不代表论文的发表时间）