Shape, Motion, and Parameter Estimation of Large Flexible Space Structures using Range Images

Future space missions are expected to use robotic systems to assemble, inspect, and maintain large space structures in orbit. To carry out these tasks, robots need to know the deformations and motions of the structures with which they interact. This paper presents a method for efficiently 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. A 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. This paper presents theoretical development as well as simulation and experimental results. Results on computational efficiency are included.