Inertial parameter identification using contact force information for an unknown object captured by a space manipulator

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• 作者：Zhongyi Chu^a ; ^{chuzystar@gmail.com} ; Ye Ma^a ; Yueyang Hou^b ; Fengwen Wang^b
• 关键词：Space unknown object ; Inertial parameter ; Contact force ; RLS-APSA ; Identification
• 刊名：Acta Astronautica
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：131
• 期：Complete
• 页码：69-82
• 全文大小：1823 K
• 卷排序：131

文摘

The accumulated errors dominate identification precision of space unknown object. A novel identification scheme via contact force and RLS-APSA is proposed. The inertial parameter identification performance is verified by co-simulation.