実世界ハプティクスのための最適化問題に基づく摩擦同定法

抄録

Recently, the real-world haptics which deals with real-world tactile sense has been actively researched. In the real-world haptics, tactile information is dealt with by an actuator as a disturbance force. Therefore, a friction of the actuator has to be minimized for clearer tactile information. If the friction is known in advance, it is able to be compensated by control. So this paper proposes a method of friction identification of an actuator based on optimization problem. Simulated annealing which is solver of the optimization problem is used in the proposal.