パラメータの誤差共分散同定と感度解析を利用したロボットの周期運動制御

抄録

The purpose of this study is to reduce an error in the weaving motion of a 3-DOF planar manipulator. For this purpose, it is necessary to identify the physical parameters of the robot to calculate the feed-forward torque for weaving. Since noise in the experimental data is a problem in this process, we identify parameters that have small influence on the motion error even though the existence of the parameter errors by considering sensitivity analysis and error covariance of the parameters. As a result, it is confirmed by simulation that the error of the weaving motion is reduced by the control using the feed-forward torque of the identified parameters compared to the parameters identified by the Least Mean Square.