Contact parameter estimation with a space robot verification facility

Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005

Volumn 6 A, Issue , 2005, Pages 433-442

  Agar, Julie ^a   Sharf, Inna ^a   Lange, Christian ^b   Gonthier, Yves ^b  

^a MCGILL UNIVERSITY   (Canada)

^b CANADIAN SPACE AGENCY   (Canada)

Author keywords

Contact; Identification; Manipulator; Parameter; Space

Indexed keywords

ALGORITHMS; MANIPULATORS; PARAMETER ESTIMATION; SPACE APPLICATIONS; STIFFNESS;

CONTACT; IDENTIFICATION; MANIPULATOR; PARAMETER; SPACE;

ROBOTS;

EID: 33244456411     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/detc2005-84346     Document Type: Conference Paper

References (27)

1. De Carufel, J., Martin, E. and Piedboeuf J.-C., 2000, "Control Strategies for Hardware-in-the-loop Simulation of Flexible Space Robots," IEE Proceedings on Control Theory Applications, 147, pp. 569-579.
2. Singh, S. and Popa, D., 1995, "An Analysis of Some Fundamental Problems in Adaptive Control of Force and Impedance Behavior: Theory and Experiments," IEEE Transactions on Robotics and Automation, 11, pp. 912-921.
3. Seraji, H. and Colbaugh, R., 1997, "Force Tracking in Impedence Control," The International Journal of Robotic Research, 16, pp. 97-117.
4. Love, L. and Book, W., 1995, "Environment estimation for enhanced impedance control," Proc. of the IEEE International Conference on Robotics and Automation, pp. 1854-1859.
5. Erickson, D., 2000, "Contact Stiffness and Damping Estimation for Constrained Robotic Systems," Master's thesis, University of Victoria, Victoria, Canada.
6. Erickson, D., Weber, M. and Sharf, I., 2003, "Contact Stiffness and Damping Estimation for Robotic Systems," International Journal of Robotics Research, 22, pp. 41-47.
7. Weber, M., 2001, "Contact Parameter Identification for Constrained Robotic Tasks with Known Geometry," Master's thesis, University of Applied Sciences FH Ravensburg-Weingarten, Germany.
8. Patel, K., 2003, "Frequency and Time Domain Contact Parameter Estimation for Space Robotic Operations," Master's thesis, McGill University, Canada.
9. th CISM-IFToMM Symposium on Robotics Design, Dynamics and Control (Romansy 2004), Montreal, Canada.
10. Ma, O., 2002, "Contact Dynamics Toolkit (CDT) User's Guide," MacDonald Dettwiler Space and Advanced Robotics Ltd., Research and Development. Version CDT_2000, Release 3.
11. Ljung, L., 1987, System Identification: Theory for the user. Prentice-Hall, Englewood Cliffs, NJ.
12. Slotine, J.J. and Li, W., 1987, Applied Nonlinear Control. Prentice-Hall, Englewood Cliffs, NJ.
13. Ogata, K., 1987, Discrete-Time Control Systems. Prentice-Hall, Englewood Cliffs, NJ.
14. Brown, R. G. and Hwang, P. Y. C., 1997, Introduction to Random Signals and Applied Kalman Filtering. John Wiley and Sons, New York, NY.
15. Pintelon, R. and Schoukens, J., 2001, Systems Identification, A Frequency Domain Approach. IEEE Press, New York.
16. Gopalratnam, G. and Raol, J., 1996, "Analysis of Stabilised Output Error Methods," IEE Proceedings -Control Theory Applied, 143, pp. 209-216.
17. Sinha, N. and Kutsza, B., 1983, Modeling and Identification of Dynamics Systems. Van Nostrand Reinhold.
18. Eykhoff, P., 1974, System Identification: Parameter and State Estimation. John Wiley and Sons, Toronto.
19. Dai, H. and Sinha, N., 1992, "A Robust Off-line Output Error Method for System Identification," IEEE Transactions on Industrial Electronics, 39.
20. Mendel, J., 1973, Discrete Techniques for Parameter Estimation - The Equation Error Formulation. Marcel Dekker Inc., New York.
21. Morelli, E., 1999, "Real-Time Parameter Estimation in the Frequency Domain," American Institute of Aeronautics and Astronautics, 99-4043, pp. 1-11.
22. Klein, V., 1978, "Aircraft Parameter Estimation in Frequency Domain," American Institute of Aeronautics and Astronautics, 78-1344, pp. 140-147.
23. Mehra, R., 1976, "Synthesis of Optimal Inputs for Multi-input/Multi-output (MIMO) Systems With Process Noise," System Identification: Advances and Case Studies, edited by Mehra, R. and Lainiotis, D., Academic Press.
24. Piedboeuf, J.-C., De Carufel, J., Aghili, F., Martin, E. and Dupuis E., 1999, "Task Verification Facility for the Canadian Special Purpose Dextrous Manipulator," in Proc. of the 1999 IEEE International Conference on Robotics and Automation, 2, pp. 1077-1083, Detroit, Michigan.
25. Ma, O., Wang, J., Misra, S. and Liu, M., 2004, "On the Validation of SPDM Task Verification Facility," Journal of Robotic Systems, 21, pp. 219-235.
26. Zhu, W., Piedboeuf, J.-C. and Gonthier, Y., 2002, "Emulation of a Space Robot Using a Hydraulic Manipulator on the Ground," in Proc. of the 2002 IEEE International Conference on Robotics and Automation, Washington, D.C.
27. Van Vliet, J., Sharf, I. and Ma, O., 2000, "Experimental Validation of Contact Dynamics Simulation of Constrained Robotic Tasks," International Journal of Robotics Research, 19, pp. 1203-1217.