Research on the collision process of inertia parameters identification of unknown object

To effectively capture an unknown object, inertia parameters such as mass and inertia need to be confirmed. To measure the inertia parameter of unknown object, this paper proposes a measuring method applying to the collision process during capturing. This paper described the collision capturing model with the equivalent spring damping method, set up a collision dynamic mathematical model. Study the influence of the collision times and collision point location on precision of inertia parameter identification. The results show that, increasing the diversity of the collision point and the number of collisions, can reduce the condition number, and improve the identification accuracy. Based on the discernibility matrix made up by the 12 groups' data in case 6, identification error can be dropped to less than 1%.