On the parameter identification of free-flying space manipulator systems

Abstract

A novel parameter identification method is proposed, which identifies all the parameters required for the reconstruction of free-flying space manipulator system dynamics. Its key advantage is that it does not use acceleration measurements; thus, it is less sensitive to sensor noise than other methods. The method is based on the conservation of angular momentum and on a kinematic equation including a Jacobian. To apply the method, all manipulator joints are commanded to follow optimized exciting trajectories, while the system is in free-floating mode. The estimated parameters render the free-flying system dynamics fully identified and available to model-based control. The method applies to multi-arm systems and is validated by simulation and experiments with excellent results.