ロボットのパラメータ誤差分散同定と感度最小化運動設計

抄録

The purpose of this research is to design a throwing motion of 3-DOF manipulator so that the thrown object lands on the target position. For this purpose, (1) a physical model have to be identified to calculate an appropriate feedforward torque, and (2) the motion which minimizes sensitivity with respect to parameter error is designed. In (1), identification is conducted to identify minimum dynamic parameters of the manipulator. In (2), because the identified parameters have uncertainty due to a noise etc., the error covariance of parameters will be identified, and a throwing motion is designed to minimize sensitivity of landing position error considering the obtained error covariance. Finally, the effectiveness of the proposed method is verified by experiments.