On parameter estimation of space manipulator systems using the angular momentum conservation

Christidi-Loumpasefski, Olga-Orsalia; Nanos, Kostas; Papadopoulos, Evangelos

doi:10.1109/icra.2017.7989641

Cited by 19 publications

(15 citation statements)

References 14 publications

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“…In [20], owing to an unprocessed form of the momentum model, which is nonlinear in terms of parameters, particle swarm optimization was implemented for parameter estimation. Formulations based on a processed form of momentum model used least squares or an altered version of it for parameter estimation [10,[16][17][18][19]. Least squares worked well because the noise affecting the data that is required by the momentum model is usually quite low.…”

Section: Estimation Methodologymentioning

confidence: 99%

“…Identification techniques based on both momentum [10,[16][17][18][19] and dynamic [8,10,11,14,[23][24][25] models exist.…”

Section: A Modelingmentioning

confidence: 99%

“…However, the procedure needs firing the thrusters and requires high-noise acceleration measurements. A combination of inertial parameters of the space robot are estimated using only the angular momentum model in [18]. It is the work that comes closest to whole-system identification based only on momentum model.…”

Section: A Modelingmentioning

confidence: 99%

“…Formulating the momentum model in terms of minimal parameters makes them sufficient not only for momentum model-based control but also for motion planning and dynamic model-based control. Estimating such widely applicable minimal parameters of the space robot, with no prior knowledge of inertial parameters of any of its links, fundamentally distinguishes the presented work from other momentum-based identification techniques [10,[16][17][18][19].…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, torque and acceleration measurements often have low SN ratio in space robots since their signal amplitude is low for safety reasons [16,17]. As a result, parameter estimates based on the momentum model are proven to be substantially accurate than dynamic model based parameter estimates [10,18]. Next, the proposed framework uses only robotic arms and reaction wheels for parameter identification.…”

Section: Introductionmentioning

confidence: 99%

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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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Section: Estimation Methodologymentioning

confidence: 99%

“…Identification techniques based on both momentum [10,[16][17][18][19] and dynamic [8,10,11,14,[23][24][25] models exist.…”

Section: A Modelingmentioning

confidence: 99%

Section: A Modelingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Momentum Model-Based Minimal Parameter Identification of a Space Robot

Naveen

Shah

Misra

2019

Journal of Guidance, Control, and Dynamics

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A marsupial robotic system for surveying and inspection of freshwater ecosystems

Kalaitzakis

Cain

Vitzilaios

et al. 2020

Journal of Field Robotics

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Freshwater ecosystems are vast areas that are constantly changing and evolving. To maintain the ecosystem as well as the structures located close to bodies of water, frequent monitoring is required. Although dangerous and time consuming, manual operations are the conventional way of monitoring such areas. Recently, Autonomous Surface Vehicles (ASVs) have been proposed to undertake the monitoring task. As any other platform, ASVs have limitations, such as a restricted point of view and access only where the water is sufficiently deep. Unmanned Aerial Vehicles (UAVs) can fly over any terrain and provide a “bird's‐eye‐view” of the environment. However, UAVs have limited operational time due to power constraints. Heterogeneous marsupial robotic systems use different types of robots to augment their operation envelope, taking advantage of their individual strengths. A marsupial survey system comprised an ASV and a UAV for freshwater monitoring is developed and presented in this paper. This system is able to complete long missions and reach remote locations while also being able to generate detailed maps and inspections of points of interest. The system was thoroughly tested during a 6‐month period in a number of field deployments in freshwater ecosystems at Lake Murray and at the Congaree River, SC, USA, to validate its capabilities.

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On the Accuracy of Inertial Parameter Estimation of a Free-Flying Robot While Grasping an Object

Ekal

Ventura

2019

J Intell Robot Syst

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On parameter estimation of space manipulator systems using the angular momentum conservation

Cited by 19 publications

References 14 publications

Momentum Model-Based Minimal Parameter Identification of a Space Robot

Momentum Model-Based Minimal Parameter Identification of a Space Robot

A marsupial robotic system for surveying and inspection of freshwater ecosystems

On the Accuracy of Inertial Parameter Estimation of a Free-Flying Robot While Grasping an Object

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