| 1. Identity statement | |
| Reference Type | Journal Article |
| Site | mtc-m16.sid.inpe.br |
| Holder Code | isadg {BR SPINPE} ibi 8JMKD3MGPCW/3DT298S |
| Identifier | 6qtX3pFwXQZGivnJVY/UuiFV |
| Repository | sid.inpe.br/mtc-m16@80/2008/06.17.15.27 (restricted access) |
| Last Update | 2013:03.25.13.05.16 (UTC) administrator |
| Metadata Repository | sid.inpe.br/mtc-m16@80/2008/06.17.15.27.14 |
| Metadata Last Update | 2021:02.11.18.10.22 (UTC) administrator |
| Secondary Key | INPE--PRE/ |
| DOI | 10.1155/2007/12361 |
| ISSN | 1024-123X 1563-5147 |
| Citation Key | SilvaSouzSchä:2007:JoDyMo |
| Title | Joint dynamics modeling and parameter identification for space robot applications  |
| Year | 2007 |
| Access Date | 2024, May 02 |
| Secondary Type | PRE PI |
| Number of Files | 1 |
| Size | 1911 KiB |
| 2. Context | |
| Author | 1 Silva, Adenilson R. da 2 Souza, Luiz Carlos Gadelha de 3 Schäfer, Bernd |
| Group | 1 DMC-INPE-MCT-BR 2 DMC-INPE-MCT-BR |
| Author e-Mail Address | 1 adenilson.silva@dss.inpe.br 2 gadelha@dem.inpe.br 3 bernd.schaefer@dlr.de |
| Journal | Mathematical Problems in Engineering |
| Volume | 2007 |
| Pages | 19 pp |
| History (UTC) | 2008-06-17 15:29:20 :: marciana -> administrator :: 2013-03-25 12:56:41 :: administrator -> marciana :: 2007 2013-03-25 13:05:17 :: marciana -> administrator :: 2007 2021-02-11 18:10:22 :: administrator -> marciana :: 2007 |
| 3. Content and structure | |
| Is the master or a copy? | is the master |
| Content Stage | completed |
| Transferable | 1 |
| Content Type | External Contribution |
| Version Type | publisher |
| Keywords | Joint dynamics modeling robotic applications mathematical model |
| Abstract | Long-term mission identification and model validation for in-flight manipulator control system in almost zero gravity with hostile space environment are extremely important for robotic applications. In this paper, a robot joint mathematical model is developed where several nonlinearities have been taken into account. In order to identify all the required system parameters, an integrated identification strategy is derived. This strategy makes use of a robust version of least-squares procedure (LS) for getting the initial conditions and a general nonlinear optimization method (MCSmultilevel coordinate searchalgorithm) to estimate the nonlinear parameters. The approach is applied to the intelligent robot joint (IRJ) experiment that was developed at DLR for utilization opportunity on the International Space Station (ISS). The results using real and simulated measurements have shown that the developed algorithm and strategy have remarkable features in identifying all the parameters with good accuracy. |
| Area | ETES |
| Arrangement | urlib.net > BDMCI > Fonds > Produção anterior à 2021 > DIDMC > Joint dynamics modeling... |
| doc Directory Content | access |
| source Directory Content | there are no files |
| agreement Directory Content | there are no files |
| 4. Conditions of access and use | |
| Language | en |
| Target File | 012361.pdf |
| User Group | administrator marciana |
| Visibility | shown |
| Archiving Policy | denypublisher allowfinaldraft |
| Read Permission | deny from all and allow from 150.163 |
| Update Permission | not transferred |
| 5. Allied materials | |
| Next Higher Units | 8JMKD3MGPCW/446AF4B |
| Dissemination | WEBSCI; PORTALCAPES; COMPENDEX. |
| Host Collection | sid.inpe.br/banon/2003/08.15.17.40 |
| 6. Notes | |
| Empty Fields | affiliation alternatejournal archivist callnumber copyholder copyright creatorhistory descriptionlevel e-mailaddress format isbn label lineage mark mirrorrepository month nextedition notes number orcid parameterlist parentrepositories previousedition previouslowerunit progress project readergroup resumeid rightsholder schedulinginformation secondarydate secondarymark session shorttitle sponsor subject tertiarymark tertiarytype typeofwork url |
| 7. Description control | |
| e-Mail (login) | marciana |
| update | |