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Recursive Differential Evolution Algorithm for Inertia Parameter Identification of Space Manipulator
文献类型:期刊
作者:Liu, Zhengxiong[1]  Huang, Panfeng[2]  Lu, Zhenyu[3]  
机构:[1]Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, China |National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, China
[2]Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, China |National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, China
[3]Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, China |National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, China
通讯作者:Huang, PF (reprint author), Northwestern Polytech Univ, Sch Astronaut, Res Ctr Intelligent Robot, Xian 710072, Peoples R China.; Huang, PF (reprint author), Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Xian 710072, Peoples R China.
年:2016
期刊名称:INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS影响因子和分区
卷:13
期:1041
页码范围:1-11
增刊:正刊
学科:工程学
收录情况:SCI(E)(WOS:000377333300001)  EI(20164502981284)  
所属部门:航天学院
人气指数:147
浏览次数:141
基金:National Nature Science Foundation of China [11272256, 61005062, 60805034]; Fundamental Research Funds for the Central Universities [3102015BJ006]
关键词:Recursive Differential Evolution; Parameter Identification; Friction; Space Manipulator
摘要:
This paper proposes a recursive differential evolution (RDE) algorithm to identify the inertial parameters of an unknown target and simultaneously revise the friction parameters of space manipulator joints. The inertia parameters of a space manipulator, which govern the dynamic behaviours of the entire system to a significant extent, can change for many reasons during the process of on-orbit operations; consequently, it is essential to trace these changes within the control system to ensure the ...More
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