Inertia Parameters Identification in the Process of Capturing Non-cooperative Target Using a 7-DOF Manipulator

7-DOF manipulator has a redundant freedom which allows it to execute various complex tasks. This paper proposes a method for identifying inertia parameters of non-cooperative targets and deriving dynamic characteristics of the whole system. Firstly, the framework of the inertia identification process is introduced. Each joint of the manipulator is locked. Then by offering the manipulator base with an initial velocity, the manipulator will collide with the target. With depth camera equipped, the velocity and angular velocity of the target is thus detected and utilized for identification of inertia parameters of the target and the whole system. Secondly, inertia parameters needed to be recognized are analyzed and an identification method is proposed. Assisted with relevant sensors and other measurement devices, the momentum and angular momentum of the manipulator system are known, and the inertia parameters of the target are derived and calculated by conservation of momentum with least square method. Simulations are done to verify the correctness of the algorithm. Finally, after the target is captured, the total inertia parameters of the whole system are analyzed.