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Mathematical Problems in Engineering - Volume 2007 2007, Article ID 12361, 19 pages

Research Article

Space System Division, National Institute for Space Research INPE, Avenida dos Astronautas 1758, São José dos Campos 12201-970, SP, Brazil

Space Mechanics and Control Division, National Institute for Space Research INPE, Avenida dos Astronautas 1758, São José dos Campos 12201-970, SP, Brazil

Deutsches Zentrum für Luft- und Raumfahrt, Oberpfaffenhofen, Wessling 82234, Germany

Received 31 August 2006; Accepted 5 March 2007

Academic Editor: José Manoel Balthazar

Copyright © 2007 Adenilson R. da Silva et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

Long-term mission identification and model validation for in-flight manipulator control system in almost zero gravity with hostile space environment are extremely important for robotic applications. In this paper, a robot joint mathematical model is developed where several nonlinearities have been taken into account. In order to identify all the required system parameters, an integrated identification strategy is derived. This strategy makes use of a robust version of least-squares procedure LS for getting the initial conditions and a general nonlinear optimization method MCS—multilevel coordinate search—algorithm to estimate the nonlinear parameters. The approach is applied to the intelligent robot joint IRJ experiment that was developed at DLR for utilization opportunity on the International Space Station ISS. The results using real and simulated measurements have shown that the developed algorithm and strategy have remarkable features in identifying all the parameters with good accuracy.





Autor: Adenilson R. da Silva, Luiz C. Gadelha de Souza, and Bernd Schäfer

Fuente: https://www.hindawi.com/



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