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Dynamic Parameter Identification Method for Space Manipulators Based on Hybrid Optimization Strategy
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DOI：10.3390/act14100497.png)
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Abstract
En 中文
High-precision identification of dynamic parameters is crucial for the on-orbit performance of space manipulators. This paper investigates dynamic modeling and parameter identification under special environmental conditions such as microgravity and vacuum. First, a dynamic model of the manipulator incorporating a nonlinear friction term is established using the Newton-Euler method, and an improved Stribeck friction model is proposed to better characterize high-speed conditions and space environmental effects. On this basis, a hybrid parameter identification method combining Particle Swarm Optimization (PSO) and Levenberg-Marquardt (LM) algorithms is proposed to balance global search capability and local convergence accuracy. To enhance identification performance, Fourier series are used to design excitation trajectories, and their harmonic components are optimized to improve the condition number of the observation matrix. Experiments conducted on a ground test platform with a six-degree-of-freedom (6-DOF) manipulator show that the proposed method effectively identifies 108 dynamic parameters. The correlation coefficients between predicted and measured joint torques all exceed 0.97, with root mean square errors below 5.1 Nm, demonstrating the high accuracy and robustness of the method under limited data samples. The results provide a reliable model foundation for high-precision control of space manipulators.
Keywords:
space manipulator
dynamic parameter identification
space friction modeling
hybrid optimization algorithm
microgravity effects