制御系に低感度な最小動力学パラメータの確率的同定

抄録

Accurate identification of minimum set of dynamics parameters is required for high-precision or high-speed motion control of robots. Although the Least Mean Square method is generally used for the identification of these parameters, the identified values are not a consistent estimator because of errors included in the experimental data. Instead of considering these errors, this study regards that the minimum set of dynamics parameters fluctuates stochastically. Based on this idea, we propose a stochastic identification method to obtain identified values that have small effect on the control even when there is such fluctuation. The effect of minimum set of dynamics parameters on the control can be considered by calculating the sensitivity to the state equation including the controller. The simulation and experimental results show that the proposed method provides identified values that have small effect on the control.