6自由度産業用マニピュレータに対するパラメータ同定法の実証的研究

抄録

We have experimentally examined to estimate the parameters which appear in the dynamic model of PUMA 560 applying the two identification methods ; “step-by-step method” and “simultaneous method”.The instrumental variables method is also used in applying the “simultaneous method”. To evaluate the accuracy of the estimates we simulated the motion of the manipulator using the estimates and compared the simulated trajectories with measured trajectories. It can be concluded that the “step-by-step method” is more precise way to estimate the parameters than the “simultaneous method”, but the “simultaneous method” taking advantage of the instrumental variables method is neary as precise way as the “step-by-step method”. We have also described in detail the contents of the work which is needed to obtain the estimates about each identification method, and compared the identification methods about the labour and consuming time on the computer. If the instrumental model is constructed appropriately we can obtain the good estimates using the instrumental variables method in the “simultanous method”. We have proposed one method to determine the parameter values in the instrumental model which was already proposed. It is time consuming but very easy.