Joint Dynamics Modeling and Parameter Identification for  Space Robot Applications

da Silva, Adenilson R.; de Souza, Luiz C. Gadelha; Schäfer, Bernd

doi:https://doi.org/10.1155/2007/12361

Mathematical Problems in Engineering

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Dynamics and Control in Sciences and Engineering

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Research Article | Open Access

Volume 2007 | Article ID 012361 | https://doi.org/10.1155/2007/12361

Joint Dynamics Modeling and Parameter Identification for Space Robot Applications

Adenilson R. da Silva,¹Luiz C. Gadelha de Souza,²and Bernd Schäfer³

Academic Editor: José Manoel Balthazar

Received31 Aug 2006

Accepted05 Mar 2007

Published21 May 2007

Abstract

Long-term mission identification and model validation for in-flight manipulator control system in almost zero gravity with hostile space environment are extremely important for robotic applications. In this paper, a robot joint mathematical model is developed where several nonlinearities have been taken into account. In order to identify all the required system parameters, an integrated identification strategy is derived. This strategy makes use of a robust version of least-squares procedure (LS) for getting the initial conditions and a general nonlinear optimization method (MCS—multilevel coordinate search—algorithm) to estimate the nonlinear parameters. The approach is applied to the intelligent robot joint (IRJ) experiment that was developed at DLR for utilization opportunity on the International Space Station (ISS). The results using real and simulated measurements have shown that the developed algorithm and strategy have remarkable features in identifying all the parameters with good accuracy.

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Copyright

Copyright © 2007 Adenilson R. da Silva et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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