Abstract:

In order to accurately identify the load parameters online, a method is proposed, in which the tactile sensor information of an end-effector is used to identify the characteristic parameters of an unknown load. The method is based on the Newton-Euler equations and using the normalized least mean square error method adaptive filtering. The software of MATLAB/Simulink and ADAMS is used to build the unknown load parameters identification simulation platform in order to verify the algorithm. The actuating mechanism of the simulation platform includes a multi-DOF space manipulator and an end-effector with two claws. The manipulator arm joints have torque sensors. The inner end of the claws for the end-effector each has a tactile sensor, whose data is used to obtain the characteristic parameters. The simulation shows that the identification error is less 2% with the white noise whose values reach to 1% of the excitation signal ranges.

Key words: Space manipulator, Characteristic identification, Unknown load, Tactile sensing, Normalized least mean square error method