Mass Characteristic Parameter Identification for a Space Robot Based on Angular Momentum Conservation

摘要

The parameter identification method for inertial parameters of the base and link on a free-flying space robot is studied according to the angular momentum conservation equation. Firstly, the base and joints of the links are respectively excited with the cubic polynomial trajectory, and then their dynamic parameters are identified using the nonlinear least square algorithm, so that the results of the simulation are effectively proven by the method.