248 RBF補間を用いた速度・加速度推定法(境界領域, OS-2 運動と振動のモデリングと制御(2))

概要

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In this paper, estimation method of velocity and acceleration of joints of robot using Radial Basis Function (RBF) interpolation is discussed. Identification algorism of system parameters of robot generally requires displacement, velocity and acceleration of all joints. However, some state variables such as velocity and acceleration of joint angles cannot be measured directly and should be estimated from measurable ones. In proposed estimation method, sampled displacement data are interpolated with RBFs and estimated velocity and acceleration are derived from analytical derivation of the interpolation. Simulation results show that estimated state variables agree well with actual ones when 40 sampled data and 601 RBFs are used in the estimation. Parameters of robot are calculated in an error of 0.33% using estimated variables.
2004-09-27