Dynamic Parameter Identification of the Base of a Space Robot when Considering the Gravity Gradient

摘要

This paper presents a dynamic parameter identification method of the base of a free-flying space robot. Since the dynamic parameters play a significant role in the control of space robot system, it is necessary to identify the dynamic parameters of a space robot. First the dynamic parameters of the base are identified based on principle of momentum conservation in this paper. Then gravity gradient torque is used to identify the product of inertia for that it has effect on the attitude of a space robot. The principle and experimental process of the identification are introduced and the feasibility of the method is verified by simulation.