Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 29, 2024 - June 01, 2024
In general, a robot dynamics model is derived from the equations of motion, and the dynamics parameters are obtained through identification experiments. However, it is difficult to obtain accurate values because of the influence of noise and un-modeled dynamics. These errors may be enhanced by a feedback controller, which degrades control performance. In this study, we focus on periodic motions such as the welding weaving motion by a powered manipulator and propose an identification method of the structure and parameters of un-modeled dynamics. Based on the periodicity of the motion, the quasi-impulse response of the dynamics is derived from the motion error, and its state-space equation is derived. From the identified model, a control system is designed using periodicity, and the effectiveness of the proposed method is evaluated by experiments.
