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Modeling and Estimation of Inertia Parameters of Space Robots

Nabavi Chashmi, Yaser | 2017

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  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 50804 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Malaek, Mohammad Bagher
  7. Abstract:
  8. 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 generalized identification formulation of identification of IPs. This formulation which is linear with respect to the mass and inertia matrices of the elements of the space-robot has been used to develop a repeatable and effective identification process. The linearity of the identification formula makes it possible to use known identification methods like Recursive Least Squares (RLS) to identify the unknown parameters. On the other hand, the matrix-sets depends themselves on the space-robot structure and center of mass of the elements of the space-robot. So to identify the center of mass of the elements the generalized formula should be expanded for each space-robot configuration. In this work, this formulation is expanded for space-robots with serially linked manipulators to identify all IPs, including center of masses. Our studies show that in spite of linearity of equations with respect to all IPs, all unknown parameters are not identifiable. The identifiability characteristics of space-robots have been studied to derive explicit form of identifiable parameters of space-robots. Employing this explicit expression a new configuration for the space-robots has been proposed to improve the identifiability characteristics of the space-robot
  9. Keywords:
  10. System Identification ; Dynamic Modeling ; Space Robot ; Space Debris ; Identifiability ; Inertial Parameters

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