Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger

Abstract

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