抄録
This paper deals with joint parameters identification and control achieved by simulation environment. Using DIDIM and IDCS, identification and control methods based on simulation, help reducing difficulty in providing well tuned filters for good identification results and setting robustness of the controller for sensor noise robustness. Also it can improve the performance of the native poor controller without additional sensors by using this combination. Control experiments with the 2 DOF linear electro-mechanical positioning system including a flexible joint using the native PD controller, the CTM and the combination of DIDIM and IDCS are carried out. Comparing the results, the combination of DIDIM and IDCS shows better tracking performance than the native PD controller. Also compared with other control methods, the combination of DIDIM and IDCS shows good results reducing the vibration of the flexible joint which cannot be measured for feedback.
