Parametric Identification for a Free-Floating Base Space Manipulator

Abstract

In this paper parametric identification algorithms are applied to estimate dynamic parameters of a space manipulator, whose model is described through the Dynamically Equivalent Manipulator approach. Gradient and least-square methods are applied in order to evaluate capability of the schemes. A sufficiently rich input signal is applied as reference trajectory for joints position, while a simple model-based PID computed torque control scheme is responsible for keeping the trajectory tracking. Simulation results for a two degree-of-freedom space manipulator have shown the effectiveness of the proposal.