Mathematical Problems in Engineering
Volume 2007 (2007), Article ID 12361, 19 pages
doi:10.1155/2007/12361
Research Article
Joint Dynamics Modeling and Parameter Identification for Space Robot Applications
1Space System Division, National Institute for Space Research (INPE), Avenida dos Astronautas 1758, São José dos Campos 12201-970, SP, Brazil
2Space Mechanics and Control Division, National Institute for Space Research (INPE), Avenida dos Astronautas 1758, São José dos Campos 12201-970, SP, Brazil
3Deutsches Zentrum für Luft- und Raumfahrt, Oberpfaffenhofen, Wessling 82234, Germany
Received 31 August 2006; Accepted 5 March 2007
Academic Editor: José Manoel Balthazar
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.
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.