Validation of attitude/deformation sensing techniques for space flexible manipulators |
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| Authors: | Paolo Gasbarri Giovanni B Palmerini Giuliano Coppotelli Chiara Toglia |
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| Institution: | 1. Dipartimento di Ingegneria Aerospaziale e Astronautica, Università degli Studi di Roma “La Sapienza”, Rome, Italy;2. Dipartimento di Meccanica e Aeronautica, Università degli Studi di Roma “La Sapienza”, Rome, Italy;1. Division of Rheumatology, Department of Medicine, Feinberg School of Medicine, Northwestern University, Chicago, IL 60611, USA;2. Driskill Graduate Program in Life Sciences (DGP), Feinberg School of Medicine, Northwestern University, Chicago, IL 60611, USA;3. Robert H. Lurie Comprehensive Cancer Center, Interdepartmental Immunobiology Center and Skin Disease Research Center, Feinberg School of Medicine, Northwestern University, Chicago, IL 60611, USA;1. School of Electromechanical Engineering, Xidian University, P.O. Box 188, Xi’an 710071, China;2. Xi’an Institute of Space Radio Technology, Xi’an 710000, China;1. Centre Nationale d’Etudes Spatiales, Orbitography Office, Toulouse, France;2. Centre Nationale d’Etudes Spatiales, Groupe de Recherche de Géodésie Spatiale, Toulouse, France;3. SGT Inc., Greenbelt, MD, USA;4. NASA Goddard Space Flight Center, Greenbelt, MD, USA |
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| Abstract: | This paper proposes an approach that makes use of two different techniques to sense and identify both the rigid attitude motion and the flexible dynamics of a manipulator. With the first technique, an accurate attitude motion determination, based on the use of a global navigation satellite systems (GNSS) signals, is performed. For this purpose, some antennas are placed on the manipulator in order to obtain the observable phase of the GNSS signal. The second technique, based on the use of accelerometer sensors, is used in order to identify the dynamic signature during the motion of the flexible link. Specifically, the modal parameters are estimated using data recorded from accelerometers, conveniently placed on the structure, by means of an output-only based approach. The developed algorithms used for both the attitude estimation and the output-only modal analysis are validated by experimental activities carried out on an in-house testbed representing a two flexible arm manipulator. |
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