2A2-E08 凸多面錐近似に基づく物理条件を考慮した多自由度リンク系の標準力学パラメータの推定法

概要

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The identification method for industrial manipulators considering physical consistency such as positive definiteness of inertial parameters has been developed, however it has to solve the quadratic programming with the non-linear inequality constraints. In identifying the large-DOF systems like humanoid robots, the converged solution is difficult to be obtained. In this paper, we propose the method to realize physical consistency and computational stability. As inertial parameters of each link are represented with a finite number of mass points, the constraints can be approximated by linear inequalities. We also propose to solve the optimization problem, which minimizes the errors both from measured data and the priori parameters extracted from the geometric model like CAD data. The method can estimate standard inertial parameters, which is a useful notation to be used for other applications.