When the space robot grasps an unknown floating target on orbit, it has many advantages of knowing the inertial parameters of the target during the exploratory grasping process, since, instead of grasping blindly the better control schema can be made in the meantime to increase the safety and performance of the grasping operation. The three-finger gripper is used as the grasp mechanism for which the grasping and contact models are presented to describe the grasping procedure. Then based on the momentum conservation of the robot–target system, the linear identification model of the target inertia parameters is developed. The identification performance for one, two, and three collisions during the grasping process is investigated theoretically. It is found that the full inertia parameters will be obtained within at least three collisions between the space robot and the target. Lastly the identification model for an unknown target is applied, and the numerical simulations show the effectiveness and practicality of the model. The numerical results indicate that the identification method is effective. Furthermore, the more abundant and diverse the collisions are, the more accurate and efficient the identification method will be.


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    Title :

    Inertia parameter identification of space floating target during robotic exploratory grasping


    Contributors:
    Wei, Cheng (author) / Zhang, Yue (author) / Wang, Hongliu (author) / Zhao, Yang (author) / Zhang, Lei (author)


    Publication date :

    2019-09-01


    Size :

    14 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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