403 2リンクゴルフスイングロボットによるゴルフクラブ特性の自動推定 : 推定可能条件についての検討

概要

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Automatically grasping the parameters of golf clubs is necessary for the swing of golf robot to adjust. We suggest to an algorithm for automatic estimation of properties of golf-clubs by system identification using force sensor. In the first step of this algorithm, substituting initial values to unknown parameters of the club and calculating vibration modes of it. In the next step, the unknown parameters of club are estimated by the least squares method using the vibration modes and the data from static test and acceleration test. The third step is calculating vibration modes by substituting the estimated parameters again. By calculating second and third steps recursively, the unknown parameters converge to actual parameters. However, in some cases of initial parameters, identification is failed due to divergence or converge to local minimum parameters on calculation process. This study investigates the condition to estimate correct results by simulation.
2011-09-05