Parameters Identification Applied to Large Space Robotic Manipulators
- 10.2991/mems.2012.73How to use a DOI?
- component; Manipulator joint; dynamic model; offline parameter identification; on-line parameter identification
The dynamic parameter of the large space manipulator is the foundation of the design of the control box, the accuracy of the parameters is key to the feature of the manipulator. So a dynamic model of the flexible robotic manipulator is built, and some identification researches are carried out. Based on the model, first the off-line identification is carried out, the stiffness and the friction parameters are identified. However the manipulator work under the condition of strong radiation, high temperature switch, micro gravity space environment, some dynamic parameter can change, so a modified RLS method is introduced, with the forgetting factor taking into account, some on-line identification are carried out. All the experiments are carried out on the HIT large space manipulator and the on-line result are convergent to a stable value close to the off-line result.
- © 2012, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Sun Jingting AU - Shi Shicai AU - Zhang Fei AU - Wang Xuefei AU - Liu Hong PY - 2012/12 DA - 2012/12 TI - Parameters Identification Applied to Large Space Robotic Manipulators BT - Proceedings of the 1st International Conference on Mechanical Engineering and Material Science (MEMS 2012) PB - Atlantis Press SP - 273 EP - 279 SN - 1951-6851 UR - https://doi.org/10.2991/mems.2012.73 DO - 10.2991/mems.2012.73 ID - Jingting2012/12 ER -