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The International Journal of Robotics Research
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Vibration Estimation of Flexible Space Structures using Range Imaging Sensors

Matthew D. Lichter

Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge, MA 02139 USA, lichter{at}alum.mit.edu

Hiroshi Ueno

Guidance, Control, and Dynamics Group Japan Aerospace Exploration Agency (JAXA) Tsukuba, Ibaraki, Japan, ueno.hiroshi{at}jaxa.jp

Steven Dubowsky

Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge, MA 02139 USA, dubowsky{at}mit.edu

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.

Key Words: structural dynamics • space structures • range images • identification • unscented Kalman filter

The International Journal of Robotics Research, Vol. 25, No. 10, 1001-1012 (2006)
DOI: 10.1177/0278364906069100
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