Joint dynamics modeling and parameter identification for space robot applications

DOI10.1155/2007/12361MaRDI QIDQ954550zbMATH OpenOpenAlexFDO

Authors A. R. da Silva, B. Schäfer, Luiz Carlos Gadelha De Souza

Publication date 24 November 2008

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1155/2007/12361

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) System identification (93B30) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: 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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Cites work

• Friction and rigid body identification of robot dynamics
• Global optimization by multilevel coordinate search
• scientific article; zbMATH DE number 53638 (Why is no real title available?)
• The location of the maximum and asymmetric two-sided Brownian motion with triangular drift

Cited in

(5)

• A procedure for identification of friction parameters in constrained robots
• scientific article; zbMATH DE number 6718575 (Why is no real title available?)
• Parameter identification of nonlinear joints in spacecraft by force-state mapping
• Joint robot dynamics model identification based on artificial bee colony algorithm
• Inverse Dynamics Algorithm for Space Robots

Describes a project that uses

Uses Software

• MCS

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