動的/静的運動・フィードフォワード制御の感度に基づくパラメータの誤差共分散同定

抄録

In this study, we consider the suppression of vertical errors in periodic motion of a robot, such as weaving motion by feed-forward control. Because feed forward torque is calculated based on the dynamical model, it requires the identification of dynamic parameters. So far, we have identified the parameters based on the sensitivity of the dynamic/static motion, however there is a problem of stability of the iterative calculation. To overcome this problem, we consider the sensitivity of feed-forward control to improve the stability of the iterative calculation. As a result, we confirm that vertical errors of the weaving motion are reduced by the control using the feed-forward torque of the identified parameters compared to the conventional method and the Least Mean Square.