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Addressing the issue of system identification for space manipulators

This paper discusses the use of system identification of manipulator dynamics (especially manipulator and payload mass properties) for improvement of manipulator performance. The results presented are based on realistic error bounds on the sensor data. While there are many differences between terrestrial and space robots, one aspect in particular is most important from the standpoint of the development of effective control laws; payload range. For a typical industrial manipulator, the payload never exceeds 10% of the mass of the manipulator. In many cases it is far less than this. For manipulators employed in space applications, however, the payload mass may be orders of magnitude larger than that of the manipulator. While this has an obvious impact on the performance of the control system, it is only now that this problem is being seriously addressed.