Inertia parameters identification for cellular space robot through interaction

Most of the technologies are in high-speed evolution nowadays. But the spacecraft, however, is still high-priced and takes years to construct. Besides that, it is hardly to service since the conventional spacecraft are not serviceable designed. Facing those challenges, the concept of cellular space robot is presented in this paper for both spacecraft system construction and on-orbit service. As a typical on-orbit service task, the non-cooperative target takeover control is considered in this paper. Specifically, the inertia parameters identification for takeover control is studied in this paper. Because the cells in the cellular space robot are interconnected and networked, an interactive parameter identification algorithm is presented to solve the parameter identification problem by cells interaction. The algorithm is distributed and both synchronous and asynchronous interactions are supported. The algorithm is validated and analyzed by numerical simulations.