Method and apparatus for identifying inertial parameters of object to be identified

Abstract

The present invention discloses a method and apparatus for identifying inertial parameters of an object to be identified. The method includes the steps as follows: measuring the angular momentum of various arm sections of a mechanical arm and the angular momentum of a spacecraft at a plurality of points in time that the mechanical arm is driven to rotate for grabbing the object to be identified; generating the mass and mass center position of the object to be identified, and calculating out a plurality of inertia moments of the object to be identified by utilizing the several groups of angular momentum and the current generated mass and mass center position of the object to be identified according to a preset kinetic model; evaluating the current inertia moment error of the object to be identified according to the current acquired inertia moments, returning to the generating and calculating processes when the error does not accord with a preset error requirement, and otherwise, employing the current calculated out inertia moment, the current generated mass and mass centre of the object to be identified as the inertia moment, the mass and mass centre position of the object to be identified. According to the invention, the valuable fuel of the spacecraft is saved, the inertial parameter identification precision of the object to be identified is improved, and the ideal general purpose is provided.

Description

technical field [0001] The invention relates to space robot technology, in particular to an inertial parameter identification method for an object to be identified and an inertial parameter identification device for an object to be identified. Background technique [0002] Spacecraft such as satellites are usually equipped with a multi-arm robotic arm. During the in-orbit operation of the spacecraft, it often occurs that the robotic arm is used to grab unknown targets (also called non-cooperative targets or targets to be identified). Requirements; The unknown target here refers to the target whose inertial parameters such as mass, center of mass position and moment of inertia are unknown (such as partially unknown or completely unknown). [0003] In the process of controlling the manipulator to grasp the unknown target, the inertial parameters of the unknown target should be accurately and timely identified, otherwise, the grasping of the unknown target will cause unpredicta...

AI Technical Summary

Problems solved by technology

[0009] The above-mentioned method one needs to use the booster to push the unknown target, so it will consume the fuel of the spacecraft; in addition, due to the low measurement accuracy of the current angular acceleration signal and torque information, the accuracy of the inertial parameters obtained by using the method one lower;

[0010] The above-mentioned method 2 requires a sufficient number of equations to solve the inertial parameters. Therefore, it is necessary to drive the arm joints to move multiple times, and the identification process of the inertial parameters is more complicated; In the case of low linear momentum measurement accuracy, the inertia parameters obtained by method 2 have low accuracy;

[0011] The above-mentioned method three, because its inertial parameter identification is based on the sample library, limits the range of identifiable unknown targets, that is, the method has poor versatility; In the case of a large number of samples, the difficulty of designing and training the multi-layer feedforward neural network is relatively high.

Images