It is of great importance to accomplish identifying the non-cooperative targets inertial parameters for capturing and controlling it. This paper adopts an identification method utilizing the tactile and vision to establish the identification equations based on the principle of conservation of momentum. In order to solve the equations precisely and rapidly, two of the most widely used methods: the least square method and the recursive least-square method (RLS) are employed for simulation and calculation utilizing ADAMS and MATLAB, and the limitation of each method is pointed out. Then the paper proposes a new method named the recursive method based on the least square solution. This method provides the identification equation a new solving thought and realizes fast identification of the targets inertial parameters at high accuracy. The simulation results verify the validity and feasibility of the proposed approach.
To effectively capture an unknown object, inertia parameters such as mass and inertia need to be confirmed. To measure the inertia parameter of unknown object, this paper proposes a measuring method applying to the collision process during capturing. This paper described the collision capturing model with the equivalent spring damping method, set up a collision dynamic mathematical model. Study the influence of the collision times and collision point location on precision of inertia parameter identification. The results show that, increasing the diversity of the collision point and the number of collisions, can reduce the condition number, and improve the identification accuracy. Based on the discernibility matrix made up by the 12 groups’ data in case 6, identification error can be dropped to less than 1%.
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