実世界ハプティクスのための最適化問題に基づく摩擦同定法

下市 拓真; 桂 誠一郎

doi:10.11511/jacc.54.0.363.0

THE 54TH JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : 2H404

DOI https://doi.org/10.11511/jacc.54.0.363.0

Conference information

Host: The Society of Instrument and Control Engineers, The Japan Society of Mechanical Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Toyohashi University of Technology, Technically Cosponsored by 51 Societies and Institutes

Identification and Estimation (2: Theory and Application of Identification and Estimation)

A Method of Friction Identification Based on Optimization Problem for Real-World Haptics

*Takuma Shimoichi, Seiichiro Katsura

Author information

Keywords: Real-World Haptics, Friction Identification, Simulated Annealing

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

Recently, the real-world haptics which deals with real-world tactile sense has been actively researched. In the real-world haptics, tactile information is dealt with by an actuator as a disturbance force. Therefore, a friction of the actuator has to be minimized for clearer tactile information. If the friction is known in advance, it is able to be compensated by control. So this paper proposes a method of friction identification of an actuator based on optimization problem. Simulated annealing which is solver of the optimization problem is used in the proposal.

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