Dynamic parameter identification for a space robot based on angular momentum conservation

For a space robot there are errors between its nominal dynamic parameters and real dynamic ones because of some factors of machining and assembly. However, Path planning for the space robot is different from that on the ground, since the dynamic parameters exist in the generalized Jacobian matrix, the calculated trajectory will deviate from the really desired one, which will cause some pose errors of the end-effector. According to the angular momentum conservation equation for a free-floating space robot, the base and joints of a two DOF space robot are respectively excited with the cubic polynomial trajectory, then its dynamic parameters are identified respectively using the least-square algorithm based on the error model and the GA (genetic algorithm). The simulation results show that the calculated stability and the dynamic parameters' identification accuracy with GA are better than those with the least square.