2P1-B02 シリアル2リンク2慣性系の物理パラメータ同定(動作計画と制御の新展開)

概要

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In this paper, we propose an identification method for a SCARA-type planer two link robot arm with elastic reduction gears, which is treated as a serial two-link-two-inertia system. We utilize not only motor encoders but also rate gyros and accelerometers on each link in the identification method, The identification method consists of three steps. The first step is the rigid model identification using a well-known procedure. The second is the elastic model identification using a multi-input multi-output state space model technique in which the interaction forces between two links are decoupled. The third is the physical parameter identification using the state space model. Experimental results showed accuracy of the identification method.
一般社団法人日本機械学会の論文
2007-05-11