Journal of Astronautics ›› 2016, Vol. 37 ›› Issue (10): 1215-1221.doi: 10.3873/j.issn.1000-1328.2016.10.009

Previous Articles     Next Articles

Characteristic Identification of Unknown Load Controlled by Space Manipulator Based on Tactile

HOU Yue yang, LU Shan, YU Xue wen, WANG Feng wen   

  1. 1. Shanghai Aerospace Control Technology Institute, Shanghai 201109, China;
     2. Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai 201109, China
  • Received:2016-02-24 Revised:2016-04-06 Online:2016-10-15 Published:2016-10-25


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

CLC Number: