Research on Identification Method of Kinematics for Space Robot

被引：5

作者：

Wang Xue-qian ^{[1
]}

Liu Hou-de

Shi Ye ^{[1
]}

Liang Bin ^{[1
]}

Zhang Ying-chun ^{[1
]}

机构：

[1] Harbin Inst Techonl, Harbin 150001, Peoples R China

来源：

2012 INTERNATIONAL WORKSHOP ON INFORMATION AND ELECTRONICS ENGINEERING | 2012年 / 29卷

关键词：

Space robot; kinematics parameters identification; PSO algorithm;

D O I：

10.1016/j.proeng.2012.01.498

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

As the space environment and other factors, the space robot kinematic parameters will be some changes while running in the orbit. In order to improve the positioning accuracy of space robots a kinematics parameters identification method is proposed which combining linear simplification with nonlinear optimization, using a combined identification strategy of least squares algorithm with the PSO algorithm. In the initial phase, the nonlinear model is identified off-line using the ( Particle Swarm Optimization) PSO algorithm. While in the follow-up mission, the kinematic parameters do not change much, the least squares method is used for online identification. This method can satisfy the identification accuracy in conditions of large deviations, and to achieve kinematic parameters online identification. Simulation results demonstrate the effectiveness of the method. (C) 2011 Published by Elsevier Ltd. Selection and/or peer-review under responsibility of Harbin University of Science and Technology

引用

页码：3381 / 3386

页数：6