The geometric parameters of a space robot change with the terrible temperature change in orbit, which will cause the end-effector\r\npose (position and orientation) error of a space robot, and so weakens its operability.With this in consideration, a new geometric\r\nparameter identification method is presented based on a laser-ranger attached to the end-effector. Then, independence of the\r\ngeometric parameters is analyzed, and their identification equations are derived. With the derived identification Jacobian matrix,\r\nthe optimal identification configurations are chosen according to the observability index O3. Subsequently, through simulation\r\nthe geometric parameter identification of a 6-DOF space robot is implemented for these identification configurations, and the\r\nidentified parameters are verified in a set of independent reference configurations. The result shows that in spite of distance\r\nmeasurement alone, pose accuracy of the space robot still has a greater improvement, so the identification method is practical\r\nand valid.
Loading....