Abstract
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.
Highlights
Manipulator systems are an important component of the spacecraft structure
The operators of the shuttle remote manipulator system (SRMS) spend 20 to 40 s waiting for oscillation decay after maneuvering the arm to avoid the vibration problem in an on-orbit operation [4]
This paper mainly focuses on the structural vibration and corresponding payload parameter identification problem, so the global motion of the manipulator in the inertial coordinate frame O‐XYZ will be ignored
Summary
Manipulator systems are an important component of the spacecraft structure. These systems are currently widely applied to the on-orbit servicing missions, such as space object capture and structure assembly [1,2,3]. Based on the planning for optimal maneuvers, the inertia parameters of the ETS-VII spacecraft and the manipulator payload are obtained by solving a nonlinear LS problem [9] Alternative methods, such as the linear and angular momentum conservation [15, 16], Kalman filtering [17], and the algebraic identification approach [18], are available. The proposed method can provide a reference for the capturing process of the unknown object, and the manipulator structural modal and the endpoint payload parameters at the working point can be identified simultaneously.
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