Work

Parameters Identification Applied to Large Space Robotic Manipulators

Year: 2012

Type: conference-paper

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.

Source: Proceedings of the 1st International Conference on Mechanical Engineering and Material Science

DOI: 10.2991/mems.2012.73

Authors: Sun Jingting, Shi Shicai, Zhang Fei, Wang Xuefei, Liu Hong

Institutions: Harbin Institute of Technology, State Key Laboratory of Robotics and Systems

Language: English

Topic: Dynamics and Control of Mechanical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

OpenAlex ID: W2006815178

FWCI:

Cites: 10

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Related to: 10