© Marques Engineering Ltd
Abstract: Nabavi-Chashmi Y and Malaek MB. (2016). Unmanned space-robot inertia parameters estimation: A fast mathematical algorithm. International Journal of Unmanned Systems Engineering. 4(1): 1-10. This paper describes the basics of a new mathematical approach used to develop equations of motion for an Unmanned Space-Robot (USR); with a space-debris removal application. In such missions, as a result of capturing an unknown object the mass properties of the USR will change and the resulting disturbances should be compensated. The rationale is to utilise a fast algorithm to identify robot mass/inertia tensor; where inertia parameters could change rapidly. We use a Lagrangian approach to formulate a linear form for equations of motion with regard to the mass and inertia tensor of both base and debris. A Mathematical Tool-Set provides this linearized form; which is computationally fast. Through suitable case studies, we show that the resulting linear form is able to simultaneously identify space-debris as well as USR inertia parameters very quickly. The whole system dynamics is employed and a linearized form of the equations are presented, and this approach is very fast and reliable. The approach could be further enhanced when better estimation for elements’ center of masses are available. © Marques Engineering Ltd.
Keywords: Estimation Identification, Inertia parameters, Space debris, Unmanned space-robots.
IJUSEng - 2016, Vol. 4, No. 1, 1-10
Unmanned Space-Robot Inertia Parameters Estimation:
A Fast Mathematical Algorithm
Yaser Nabavi-Chashmi and Mohammad-Bagher Malaek
Sharif University of Technology, Iran.