Proceedings of the 1st International Conference on Mechanical Engineering and Material Science (MEMS 2012)

Parameters Identification Applied to Large Space Robotic Manipulators

Authors
Sun Jingting, Shi Shicai, Zhang Fei, Wang Xuefei, Liu Hong
Corresponding Author
Sun Jingting
Available Online December 2012.
DOI
https://doi.org/10.2991/mems.2012.73How to use a DOI?
Keywords
component; Manipulator joint; dynamic model; offline parameter identification; on-line parameter identification
Abstract
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.
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Volume Title
Proceedings of the 1st International Conference on Mechanical Engineering and Material Science (MEMS 2012)
Series
Advances in Intelligent Systems Research
Publication Date
December 2012
ISBN
978-90-78677-59-8
ISSN
1951-6851
DOI
https://doi.org/10.2991/mems.2012.73How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

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  - https://doi.org/10.2991/mems.2012.73
ID  - Jingting2012/12
ER  -