柔軟構造物のフレキシビリティ制御 : 第3報, 柔軟構造物ハンドリングのための物理パラメータ同定

抄録

This paper proposes physical parameters indentification of flexible structures handled by robots. A simplified physical model based on the constrained mode method is derived in this paper. Using this model, we present two kinds of identification algorithms: the first one uses the least squares method. In this algorithm, we analyze the effects of neglected residual modes on the identification results. In some cases, neglected residual modes in the algorithm causes degradation (bias) of the identification results. We reveal that this degradation (bias) can be removed to some extent by simply feeding back the velocity of the elastic displacement adequately. We also describe desirable sensor position. The second algorithm uses the extended kalman filter by which we can identify the physical parameters without using acceleration information. Some simulation examples of identification are shown to confirm the effectiveness of these two methods.