Parameters Identification Applied to Large Space Robotic Manipulators

DOI

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.

Copyright

© 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/).

Download article (PDF)

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  -