Zero-G experimental validation of a robotics-based inertia identification algorithm

Bruggemann, Jeremy J.; Ferrel, Ivann; Martinez, Gerardo; Xie, Pu; Ma, Ou

doi:10.1117/12.849772

Cited by 4 publications

(6 citation statements)

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“…Two sets of 6-DOF testing have been performed. The first series of tests have already been documented in [9] and [10]; while the other most recent set is the primary topic of this paper. A brief discussion of the 3-DOF test method that is in development will also be provided.…”

Section: General Approachmentioning

confidence: 99%

“…Therefore, an undergraduate research team has been making efforts to experimentally test the algorithm using various affordable approaches. The team designed a flight experiment unit and flew the experiment with NASA's C-9 microgravity flight program in 2008 [9] and 2009 [10]. The experiment unit consisted of a "satellite", a single-DOF robotic arm, and an onboard measurement and data processing system.…”

Section: Introductionmentioning

confidence: 99%

“…Detailed description of our attempts for this type of experiment have been reported in references[9][10].…”

mentioning

confidence: 99%

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Development of a suborbital flight experiment for validating a satellite inertia identification method

Martinez

Inzunza-Ibarra

Ferrel

et al. 2011

Sensors and Systems for Space Applications IV

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For three years, students at New Mexico State University have pursued flight experiments for validation of a newly developed inertia property identification algorithm. The robotics-based algorithm was developed and studied using computer simulations only. It has not been fully validated experimentally because of the difficulty to physically test full six degrees of freedom system dynamics in microgravity conditions on the ground. In the attempt to experimentally validate the algorithm, two experiments onboard NASA's C-9 microgravity flights have been performed. Although these flight experiments have been an invaluable experience, the zero-gravity environment desired to fully validate the algorithm has not yet been achieved. The full validation requires 6 DOF, a zero-gravity motion condition which is virtually inconceivable for ground-based testing or aircraft-based testing. Therefore, the student team is developing a suborbital experiment to further test the algorithm. The experiment has been scheduled to fly in the summer of 2011. This paper describes the activities of this suborbital flight project.

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Section: General Approachmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Development of a suborbital flight experiment for validating a satellite inertia identification method

Martinez

Inzunza-Ibarra

Ferrel

et al. 2011

Sensors and Systems for Space Applications IV

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“…The system state-space model Equations (18) and (19) can be decoupled into n pairs of complex conjugate modes by solving the eigenproblem of A. Therefore, the system's modal parameters (frequencies, damping ratios, and mode shape matrices) can be computed from the system state-space model matrices fA, Cg.…”

Section: Identification Of System Modal Parametersmentioning

confidence: 99%

“…Nguyen-Huynh and Sharf developed a new inertia parameter identification method based on the momentum conservation equation and recursive least-squares (RLS) estimation after the space manipulator grasped an unknown tumbling target [15]. Bruggemann et al also proposed a robotic-based identification method of unknown spacecraft inertia properties using the momentum conservation [19]. Liu et al introduced a recursive differential evolution algorithm to identify the inertia parameters of an unknown target and revise the friction parameters of the space manipulator joints simultaneously [20].…”

Section: Introductionmentioning

confidence: 99%

Payload Parameter Identification of a Flexible Space Manipulator System via Complex Eigenvalue Estimation

Zhang

et al. 2020

International Journal of Aerospace Engineering

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Manipulator systems are widely used in payload capture and movement in the ground/space operation due to their dexterous manipulation capability. In this study, a method for identifying the payload parameters of a flexible space manipulator using the estimated system of complex eigenvalue matrix is proposed. The original nonlinear dynamic model of the manipulator is linearized at a selected working point. Subsequently, the system state-space model and corresponding complex eigenvalue parameters are determined by the observer/Kalman filter identification algorithm using the torque input signal of the motor and the vibration output signals of the link. Therefore, the inertia parameters of the payload, that is, the mass and the moment of inertia, can be derived from the identified complex eigenvalue system and mode shapes by solving a least-squares problem. In numerical simulations, the proposed parameter identification method is implemented and compared with the classical recursive least-squares and affine projection sign algorithms. Numerical results demonstrate that the proposed method can effectively estimate the payload parameters with satisfactory accuracy.

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Large-scale flexible spacecraft mass properties determination using torque-generating control

Liu

Zhou

Chi

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part G:

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It is necessary to determine the mass properties of an on-orbit large-scale flexible spacecraft in order to achieve high-precision attitude control. The mass properties of the spacecraft include the inertia, the center of mass, and the mass. Research in this area had been mostly focused on rigid spacecrafts. The coupling between the rigid body of the spacecraft and the large flexible appendages on it, however, could have significant effect on the mass properties determination. This article proposes a momentum conservation–based determination method that takes into consideration the rigid–flexible coupling factors of large-scale flexible spacecrafts. First, a control method is designed to ensure that the spacecraft stays motionless after the motivation incurred for mass properties determination. Second, an inertia matrix determination method is developed using a Kalman filter, in which the coupling factors are added in the amendment procedure. Third, the Kalman filter with input is applied in the determination of the center of mass: on the one hand, this method can use one the accelerometer placed at the flexible appendages, if the deformation can be measured; on the other side, the method can use three accelerometers placed at three orthogonal points of the rigid part of the spacecraft, when the deformation cannot be measured. Finally, the mass can be gained by estimating the center of mass twice. Simulations were carried out on a large-scale rigid–flexible coupling spacecraft. The results demonstrated that the determination errors in all cases are less than 10%, which meet the engineering requirements.

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Zero-G experimental validation of a robotics-based inertia identification algorithm

Cited by 4 publications

References 0 publications

Development of a suborbital flight experiment for validating a satellite inertia identification method

Development of a suborbital flight experiment for validating a satellite inertia identification method

Payload Parameter Identification of a Flexible Space Manipulator System via Complex Eigenvalue Estimation

Large-scale flexible spacecraft mass properties determination using torque-generating control

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