Computer simulations play a significant role in the development and operation of space systems because of the difficulty in performing ground-based hardware testing and onorbit tests are impossible before the launch of these systems. Hence, accurate modeling and simulation of space robotic tasks involving contact is very crucial. This in turn implies that accurate model (contact) parameters, used as inputs to the software to represent the contact operation being simulated, are imperative. In this work, we addressed the contact parameter estimation problem for simple contacting geometries (one-point contact) and complex contacting geometries (multiple-point contact). Several frequency domain identification strategies were applied to one-point contact parameter estimation problem to estimate contact stiffness and damping. The performance of these frequency domain algorithms was evaluated and compared with time domain identification algorithms. The identification algorithm for multiple point contact scenario to estimate contact stiffness, damping and coefficient of friction was also investigated. We determined the cause for poor estimation results obtained with previous implementation of this identification algorithm and were able to improve the performance of the algorithm. Finally, a thorough evaluation of sensitivity of the algorithm to noise in measured data was conducted.
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:QMM.19579 |
| Date | January 2003 |
| Creators | Patel, Ketan |
| Publisher | McGill University |
| Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
| Language | English |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation |
| Format | application/pdf |
| Coverage | Master of Engineering (Department of Mechanical Engineering) |
| Rights | All items in eScholarship@McGill are protected by copyright with all rights reserved unless otherwise indicated. |
| Relation | alephsysno: 002022444, Theses scanned by McGill Library. |
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