Inertia Parameter Identification of a Free-Flying Space Robot

Kazuya Yoshida, Satoko Abiko

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


This paper presents the identification of inertia parameters, such as mass, moment of inertia and product of inertia, of a free-flying space robot. Making use of the law of momentum conservation, an identification algorithm which does not require torque or acceleration measurment is developed. Gravity gradient torques are also used to identify the product of inertia. The algorithm is verified with the flight data obtained by the ETS-VII, Japanese space robot.

Original languageEnglish
Pages (from-to)2388-2394
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number672
Publication statusPublished - 2002


  • Free-Flying Space Robot
  • Gravity Gradient Torque
  • Inertia Parameter Identification
  • Manipulator Arm
  • The Engineering Test Satellite VII (ETS-VII)


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