感度解析に基づく投擲ロボットの動力学パラメータ誤差同定と投擲の最適化

抄録

Throwing by powered robots transports objects with short time in wide range where the robot cannot reach, and high throwing accuracy is required for its utilization. In this paper, we propose an identification method of the error of minimum set of dynamic parameters to compensate the landing error and improve the landing accuracy of throwing robot based on sensitivity analysis. Focusing on the 3-DOF planar manipulator, 1-dimensional experimental data is projected on the subspace of 15-dimensional parameter space. By obtaining the common subspace of the multiple data, the covariance of the error of error is optimized based on sensitivity analysis. By using central solution of the parameter error, the feedforward torque is recalculated by inverse dynamic computation, and throwing experiments confirm the effectiveness of the proposed method.