Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 29, 2024 - June 01, 2024
The identification accuracy of the minimum set of dynamics parameters strongly depends on the robot motion and control system. In order to improve the vertical accuracy of the weaving motion, a method for shaping the self-covariance matrix of parameter errors based on sensitivity analysis has been proposed. This method accurately determines only the parameters that has large influence on control performance, and it assumes a PD control system. When this method is applied to a dynamic control system such as a PID control system, the required accuracy of the parameters related to the gravity term will be reduced, and other parameters can be obtained with higher accuracy. In this study, we propose a sensitivity analysis method that extends the conventional method to PID control systems and an identification method using the proposed method, and verify its effectiveness through experiments using a planar 3-link manipulator.
