实时估算抓取物体惯性参数，助力太空机械臂精准操控
Online Inertia Parameter Estimation for Unknown Objects Grasped by a Manipulator Towards Space Applications
- 结合动量守恒，改进在线辨识方法
- 仿真验证参数估计误差小，精度高
- 适合在轨服务等失重环境应用
掌握抓取物体的惯性参数对动力学感知操作至关重要，尤其在基座自由浮动的太空机器人中。本文针对操作过程中未知目标物体的惯性参数估计问题，通过引入动量守恒，改进并扩展了现有在线辨识方法，使其适用于浮空基底机器人。该方法在数值仿真中得到验证，估计结果与真实值对比显示在多种场景下均实现高精度识别，证明其在在轨服务及其他太空任务中的适用性。
原文摘要 · Abstract (English)
Knowing the inertia parameters of a grasped object is crucial for dynamics-aware manipulation, especially in space robotics with free-floating bases. This work addresses the problem of estimating the inertia parameters of an unknown target object during manipulation. We apply and extend an existing online identification method by incorporating momentum conservation, enabling its use for the floating-base robots. The proposed method is validated through numerical simulations, and the estimated parameters are compared with ground-truth values. Results demonstrate accurate identification in the scenarios, highlighting the method's applicability to on-orbit servicing and other space missions.
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