A Momentum-Based Parameter Identification Method for Space Robotic Systems

A space robot and parameter identification technology, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as non-interference, fuel consumption, and affecting system motion requirements, so as to achieve the effect of saving fuel consumption and reducing requirements

Active Publication Date: 2022-06-17
西北工业大学青岛研究院 +1
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Problems solved by technology

[0004] However, the existing momentum-based parameter identification methods for space robots require the excitation motion of the system to meet the continuous excitation condition in order to ensure that the parameter identification results can converge to the true value
However, the continuous excitation conditions have requirements for the movement of the system at every moment (including the future), so it is difficult to determine online
In addition, the requirements of continuous excitation conditions for system motion may make the system motion cause additional fuel consumption to meet the continuous excitation conditions, and affect other motion requirements of the system. , it is required that the movement of the manipulator cannot interfere with the attitude of the base

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  • A Momentum-Based Parameter Identification Method for Space Robotic Systems
  • A Momentum-Based Parameter Identification Method for Space Robotic Systems
  • A Momentum-Based Parameter Identification Method for Space Robotic Systems

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Embodiment

[0090] see figure 1 , a schematic diagram of the system after a space robot captures a non-cooperative target. Assume that the true values ​​of the dynamic parameters of the last link are m respectively n =30kg, n a n =[-0.27, 0, 0.43]m, n I n，xx =13.98kg m 2 , n I n，yy =16.78kg·m 2 , n I n，zz =14.05kg m 2 , n I n，xy =-0.69kg m 2 , n I n，xz =0.13kg m 2 , n I n，yz =0.51kg m 2 . Make the motion of the system meet other task requirements, including that the motion of the arm does not interfere with the posture of the base and the angle of each joint does not exceed the limited range, but it is not required that the motion of the system meets the condition of continuous excitation. Assuming that the initial estimated value of the parameter to be identified in the system is 80% of the true value, using the parameter identification method proposed in the present invention, the estimated value curve of the unknown dynamic parameter of the system is obtained, see ...

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Abstract

The invention discloses a momentum-based parameter identification method for a space robot system, comprising: step 1: establishing a momentum-based parameter identification model for a space robot system; step 2: using a parallel learning method for parameter identification, and every The first step is to update the parameter identification result by using the motion information of the space robot system at the current time and the past time at the same time, and complete the update of the parameter identification result. It realizes that the excitation motion of the system does not need to meet the continuous excitation condition, and it can also ensure that the parameter identification value can converge to the true value at an exponential rate in the global range, which reduces the requirement of the parameter identification method for the system motion, which is beneficial to save fuel consumption and make the system Motion meets other mission requirements.

Description

technical field [0001] The invention belongs to the technical field of space robots, and relates to a momentum-based parameter identification method for a space robot system. Background technique [0002] Space robots can be used for tasks such as maintenance of malfunctioning satellites and clean-up of space debris. When a space robot captures a target whose kinetic parameters are unknown in advance, the resulting combination contains unknown kinetic parameters. In order to obtain the precise dynamic equation of the system and to design the precise control law for the system which depends on the dynamic model, it is necessary to identify the unknown dynamic parameters of the system. The existing space robot parameter identification methods are roughly divided into three categories: vision-based, force-based and momentum-based parameter identification methods. Force-based and vision-based parameter identification methods require space robots to install specific sensors and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1653B25J9/1633B25J9/1602
Inventor 罗建军宗立军王明明袁建平
Owner 西北工业大学青岛研究院
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