Coordinated Parameter Identification Technique for the Inertial Parameters of Non-Cooperative Target |
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| Authors: | Xin Ning Teng Zhang Yaofa Wu Pihui Zhang Jiawei Zhang Shuai Li Xiaokui Yue Jianping Yuan |
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| Institution: | 1College of Astronautics, Northwestern Polytechnical University, Xi’an, Shaan xi, People’s Republic of China;2Department of Mechanical & Manufacturing Engineering, Schulich School of Engineering, University of Calgary, Calgary, Alberta, Canada;Kyushu University, JAPAN |
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| Abstract: | Space operations will be the main space missions in the future. This paper focuses on the precise operations for non-cooperative target, and researches of coordinated parameter identification (CPI) which allows the motion of multi-joints. The contents of this paper are organized: (1) Summarize the inertial parameters identification techniques which have been conducted now, and the technique based on momentum conservation is selected for reliability and realizability; (2) Elaborate the basic principles and primary algorithm of coordinated parameter identification, and analyze some special problems in calculation (3) Numerical simulation of coordinated identification technique by an case study on non-cooperative target of spacecraft mounting dual-arm with six joints is done. The results show that the coordinated parameter identification technique could get all the inertial parameters of the target in 3D by one-time identification, and does not need special configuration or driven joints, moreover the results are highly precise and save much more time than traditional ones. |
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