TY - GEN
T1 - The interactive parameters estimation of multiple space robot manipulators
AU - Huang, Panfeng
AU - Lu, Zhenyu
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/12/23
Y1 - 2014/12/23
N2 - During the operation process of multiple space robot manipulators, the estimation problem of manipulators inherent parameters and target inertial parameters should be solved first. In this paper, we propose an interactive identification algorithm for this problem. This method considers convergence and consensus of estimated results in the meantime. A further application of this method in structure shock model parameters of flexible link manipulators and inertial parameters of the object grasping by multiple robots is presented. In addition, we make a further discussion and analysis about the convergence of this method in the situation of dropping back and containing invalid data. The simulation results show t hat compared with respective estimated results, the estimated results converge faster with smaller errors, which is effective to avoid the influence of non-white noise and discontinuous invalid measured data. We conclude this paper in the end.
AB - During the operation process of multiple space robot manipulators, the estimation problem of manipulators inherent parameters and target inertial parameters should be solved first. In this paper, we propose an interactive identification algorithm for this problem. This method considers convergence and consensus of estimated results in the meantime. A further application of this method in structure shock model parameters of flexible link manipulators and inertial parameters of the object grasping by multiple robots is presented. In addition, we make a further discussion and analysis about the convergence of this method in the situation of dropping back and containing invalid data. The simulation results show t hat compared with respective estimated results, the estimated results converge faster with smaller errors, which is effective to avoid the influence of non-white noise and discontinuous invalid measured data. We conclude this paper in the end.
UR - http://www.scopus.com/inward/record.url?scp=84921315052&partnerID=8YFLogxK
U2 - 10.1109/MFI.2014.6997729
DO - 10.1109/MFI.2014.6997729
M3 - 会议稿件
AN - SCOPUS:84921315052
T3 - Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
BT - Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
Y2 - 28 September 2014 through 30 September 2014
ER -