Abstract: Mostalgorithmsofinertiaparametersidentificationassumedthesystemmomentumknownandfewattentionwaspaidtotheattitudestabilizationofbase.Anincrementalformoftheidentificationequationwasgivenbasedontheconservationprincipleofmomentumandafractionalstepmethodwasproposed.Firstly,estimationequationsaboutthemassandpositionofmasscenterwereobtainedandtheunknownconstantlinearmomentumwaseliminatedinincrementalformulation.Theestimateoflinearmomentumwascalculatedwiththeestimatedparametersandthensubstitutedintoestimationequationsabouttheinertiatensors.Theincrementalequationswereobtainedagaintoeliminatetheunknownconstantangularmomentum.Anadaptivereactionlesscontrollerwasusedtopersistentlyexcitetherobotarm,whichguaranteedtheconvergenceofthealgorithmaswellasthestabilizationofbaseattitude.Simulationsresultsshowthatinertialparametersareaccuratelyidentifiedandtheangularvelocitiesofthebasearelessthan10^-3,whichcanbeviewedasnearlyundisturbed.

Key words: uncooperativetarget, attitudestabilization, redundantdegreeoffreedom, inertiaparameteridentification, reactionnullspace, adaptivecontrol