Identify the full inertial parameters of a non-cooperative target with eddy current detumbling

Meng, Qingliang; Zhao, Ce Zhou; Ji, Hongxin; Liang, Jianxun

doi:10.1016/j.asr.2020.05.044

Cited by 14 publications

(10 citation statements)

References 18 publications

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“…As mentioned above, estimator Σ 2 concludes three observation equations. The former two observation equations provide the measurement information about the Euler angles and the relative position of the object, which are expressed in Equations ( 20) and (23). Next, the angular momentum conservation-based equation is introduced.…”

Section: Observation Equations Based On Measurementsmentioning

confidence: 99%

“…The state vector of Σ 1 contains the Euler angles, the angular velocity, the relative position, the relative velocity and the inertial parameters of the object. The state equation of Σ 1 is Equation (15) and the observation equation is the visual-based observation equation presented in Equations ( 20) and (23). As a summary, Σ 1 consists of Equations ( 14), ( 15), ( 20) and (23).…”

Section: Filter Designmentioning

confidence: 99%

“…Leonard et al [21] identified the center of mass and the inertial parameters of defunct objects by applying control torque to the object directly. Meng et al [22,23] put forward the idea of directly contacting the object with a flexible rod or indirectly contacting the object with eddy current and magnetic field. By changing the motion state of the object through contact, the excitation information is increased.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Impact-Rebound Momentum Excitation Based Inertial Parameters and State Estimation of Defunct Space Object

Wang

Zhao

et al. 2023

Aerospace

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Obtaining the inertia tensors of defunct space objects is essential in on-orbit missions. When the inertia tensor of the space object is non-diagonal, the problem becomes challenging. In this case, the system does not have enough information to estimate the six independent parameters of the inertia tensor. In this paper, the problem of estimating the inertial parameters of a defunct space object with non-diagonal inertia tensor is studied. An excitation method of ejecting an impact ball from the tracking spacecraft to the object is proposed to estimate the complete inertial parameters of the object. The impact ball rebounds after colliding with the object and crashes into the atmosphere finally. After the collision, the angular momentum of the space object changes. The change is used to construct the estimation model. This paper designs an estimation model which consists of two Unscented Kalman-based estimators to estimate the inertial parameters and the motion states of the object. The observability of the estimators is proved through the observability theorem of nonlinear systems. Numerical simulations show that the estimation model is effective in estimating the complete inertial parameters of defunct objects, as well as reducing the measurement errors of the position and attitude of the object.

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Section: Observation Equations Based On Measurementsmentioning

confidence: 99%

Section: Filter Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Impact-Rebound Momentum Excitation Based Inertial Parameters and State Estimation of Defunct Space Object

Wang

Zhao

et al. 2023

Aerospace

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“…Their simulation study showed that for an object weighing 1,000 kg, only a small force of less than 10 N is sufficient to accomplish the task of identifying all inertial parameters. To avoid physical contact, Meng et al (2020) showed the feasibility of applying non-contact impulse using eddy current to identify all ten inertial parameters. In the same work they demonstrated experimentally that the method can be used for pre-capture detumbling of a tumbling target, so that the high risk of physical contact with the tumbling object for the capture phase is avoided.…”

Section: System Identification Of In-orbit Robotic Systemsmentioning

confidence: 99%

Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

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Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.

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“…Most of new end-effectors used for self-relocation (Han et al, 2016 ), target capturing (Liu et al, 2015 ; Kwok Choon et al, 2018 ), surface sampling (Moreland et al, 2018 ), and spacecraft refueling (Medina et al, 2017 ) were tested and verified carefully before on-orbit applications. Moreover, many algorithmic procedures have been presented and verified on an air bearing testbed for theoretical research such as capturing controller design Huang et al ( 2018 ), on-orbit parameters identification and calibration (Li et al, 2017 ; Meng et al, 2020 ), and trajectory planning for space manipulators (Sabatini et al, 2017 ).…”

Section: Introductionmentioning

confidence: 99%

Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data

Wei

Liang

et al. 2021

Front. Robot. AI

Self Cite

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Space manipulators have attracted much attention due to their implications in on-orbit servicing in recent years. Air bearing based support equipment is widely used for ground test to offset the effect of gravity. However, an air bearing support introduces a new problem caused by additional inertial and mass properties. Additional mass and inertial load will influence the dynamics behavior, especially stiffness information and vibration response of the whole ground test system. In this paper, a set of procedures are presented to remove the influence of air bearings and identify the true equivalent joint stiffness and damping from the test data of a motor-braked space manipulator with an air bearing support. First, inertia parameters are identified. Then, the equivalent joint stiffness and damping are determined by using a genetic algorithm (GA) method. Finally, true vibration characteristics of the manipulator are estimated by removing the additional inertia caused by the air bearings. Moreover, simulations and experiments are carried out to validate the presented procedures.

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Identify the full inertial parameters of a non-cooperative target with eddy current detumbling

Cited by 14 publications

References 18 publications

Impact-Rebound Momentum Excitation Based Inertial Parameters and State Estimation of Defunct Space Object

Impact-Rebound Momentum Excitation Based Inertial Parameters and State Estimation of Defunct Space Object

Robotic Manipulation and Capture in Space: A Survey

Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data

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