Sharif Digital Repository

This research aims to study the identification of inertia parameters (IPs) of space-robots with the main focus on Active Space-Debris Removal (ASDR) application. In many future space missions, like ASDR, the spacecraft should handle objects (like debris) with unknown IPs. To control and stabilize the spacecraft, it is crucial to identify the dynamic model of the spacecraft in such these missions. On the other hand, uncertainties in the IPs of spacecraft (including space-manipulator) make the identification problem more complex. To overcome the complexities related to mathematical representation of identification equation, a new mathematical tool called Matrix-Set is proposed to develop the...