| Matthew D. Lichter
Department of Mechanical Engineering, Massachusetts Institute of Technology,
Cambridge, MA 02139 USA, Hiroshi Ueno Guidance, Control, and
Dynamics Group, Japan Aerospace Exploration Agency (JAXA), Tsukuba, Ibaraki,
Japan and Steven Dubowsky Department of Mechanical Engineering,
Massachusetts Institute of Technology, Cambridge, MA 02139 USA |
| Future space applications will
require robotic systems to assemble, inspect, and maintain large space structures
in orbit. For effective planning and control, robots will need to know the
deformation and vibration of the structures with which they interact. This
paper presents a method for estimating the shape, motion, and dynamic model
parameters of a vibrating space structure using range imaging sensors. The
method assumes that the mode shapes are approximately known a priori. An
unscented Kalman filter exploits a mechanics-based dynamic model to extract
the modal frequencies and damping as well as the modal coefficients and
their time rate of change. Both asynchronous-capture (raster-scanning) and
synchronous-capture sensors are treated. Theoretical development and experimental
results using emulated space hardware are presented. |
