Parameter identification of space manipulator’s flexible joint

• Autorzy: Wojtunik Mateusz , Basmadji Fatina Liliana , Granosik Grzegorz , Seweryn Karol

Identyfikatory

DOI

10.14313/JAMRIS/3‐2023/24

• Języki publikacji: EN

Abstrakty

EN

A manipulator mounted on a satellite is often used to perform active debris removal missions. The space manipulator control system needs to take the dynamic model of the satellite‐manipulator system into account because of the influence of the manipulator motion on the position and attitude of the satellite. Therefore, precise modeling of the space manipulator dynamics as well as parameter identification are needed to improve the credibility of the simulation tools. In this paper, we presented the identification of the flexible‐joint space manipulator model based on dynamic equations of motion. Experiments were performed in an emulated microgravity environment using planar air bearings. The arbitrarily selected joint‐space trajectory was performed by the manipulator’s control system. The experiments were repeated multiple times in order to analyze the identification method sensitivity. The identification is based on the Simulink SimMechanics model. Thus, the procedure can be used for any space manipulator without the need to obtain analytical relations for dynamic equations each time. Including joint flexibility and spring viscous damping in the dynamic model allowed it to reflect the experimental measurements better than the reference model could. Identified parameters of the flexible joint have values of the same magnitude as corresponding real system parameters.

Słowa kluczowe

EN

orbital robotics; mathematical modeling; parameter identification; flexible-joint space manipulator; microgravity simulator

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2023
• Tom: Vol. 17, No. 3
• Strony: 78--87
• Opis fizyczny: Bibliogr. 41 poz., rys.

Twórcy

autor

Wojtunik Mateusz

• The Space Research Centre of the Polish Academy of Sciences (CBK PAN),ul. Bartycka 18a, 00-716 Warsaw, Poland

• https://orcid.org/0000-0002-0234-2368

autor

Basmadji Fatina Liliana

• The Space Research Centre of the Polish Academy of Sciences (CBK PAN),ul. Bartycka 18a, 00-716 Warsaw, Poland

• https://orcid.org/0000-0003-2769-3399

autor

Granosik Grzegorz

• Lodz University of Technology, Institute of Automatic Control, Poland

• https://orcid.org/0000-0002-3345-627X

autor

Seweryn Karol

• The Space Research Centre of the Polish Academy of Sciences (CBK PAN),ul. Bartycka 18a, 00-716 Warsaw, Poland

• https://orcid.org/0000-0002-4372-0900

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).