Design and development of an earth based experimental setup for testing algorithms on space robots

James, Francis G.; Vyas, Shubham; Bandikatla, Puneeth; Mithun, P.; Shah, Suril V.

doi:10.1145/2783449.2783487

Cited by 3 publications

(1 citation statement)

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“…Also, the CAD models provide estimates of inertial parameters which are erroneous by more than 10% [7]. Moreover, an inaccurate estimate of the inertial parameters adversely affects the motion planning and control [9]. Furthermore, while operating on-orbit, a change in the fuel quantity and payload can substantially alter the inertial parameters [10,11].…”

Section: Introductionmentioning

confidence: 99%

Momentum Model-Based Minimal Parameter Identification of a Space Robot

Naveen

Shah

Misra

2019

Journal of Guidance, Control, and Dynamics

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Accurate information of inertial parameters is critical to motion planning and control of space robots. Before the launch, only a rudimentary estimate of the inertial parameters is available from experiments and computer-aided design (CAD) models. After the launch, onorbit operations substantially alter the value of inertial parameters. In this work, we propose a new momentum model-based method for identifying the minimal parameters of a space robot while on orbit. Minimal parameters are combinations of the inertial parameters of the links and uniquely define the momentum and dynamic models. Consequently, they are sufficient for motion planning and control of both the satellite and robotic arms mounted on it. The key to the proposed framework is the unique formulation of momentum model in the linear form of minimal parameters. Further, to estimate the minimal parameters, we propose a novel joint trajectory planning and optimization technique based on direction combinations of joints' velocity. The efficacy of the identification framework is demonstrated on a 12 degreesof-freedom, spatial, dual-arm space robot. The methodology is developed for tree-type space robots, requires just the pose and twist data, and scalable with increasing number of joints.

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