Inertial Parameter Identification of a Captured Payload Attached to a Robotic Manipulator on a Free-Flying Spacecraft

dc.contributor.advisorAkin, David Len_US
dc.contributor.authorLimparis, Nicholas Michaelen_US
dc.contributor.departmentAerospace Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2024-09-23T05:46:54Z
dc.date.available2024-09-23T05:46:54Z
dc.date.issued2024en_US
dc.description.abstractThe groundwork for the dynamics of a free-flyer with a manipulator has been laid out by Yoshida, Vafa and Dubowsky, and Papadopoulos and Moosovian with the Generalized Jacobian Matrix, Virtual Manipulator, and Barycentric Vector Approach respectively. The identification of parameters for a robot manipulator has also been approached for industrial robots as well as through adaptive control theory. What is proposed is a method for inertial parameter identification and verification for a spacecraft with an attached manipulator that is an extension of the ground-fixed Inverse Direct Dynamic Model to function for a free-flying spacecraft. This method for inertial parameter identification for a spacecraft-manipulator system with an attached client spacecraft, debris, or other grappled payload is developed in this thesis and is experimentally tested using results for a servicer and an "unknown" grappled payload using three separate test beds. The results of the experiments show that the proposed method is capable of identifying the inertial parameters of the servicer and the grappled payload.en_US
dc.identifierhttps://doi.org/10.13016/ol3v-o4zv
dc.identifier.urihttp://hdl.handle.net/1903/33316
dc.language.isoenen_US
dc.subject.pqcontrolledRoboticsen_US
dc.subject.pqcontrolledAerospace engineeringen_US
dc.subject.pquncontrolledDynamicsen_US
dc.subject.pquncontrolledInertiaen_US
dc.subject.pquncontrolledRoboticsen_US
dc.subject.pquncontrolledSpaceen_US
dc.subject.pquncontrolledSpacecraften_US
dc.titleInertial Parameter Identification of a Captured Payload Attached to a Robotic Manipulator on a Free-Flying Spacecraften_US
dc.typeDissertationen_US

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