抄録
Most existing manipulator control schemes require that the dynamic model of a manipulator be precisely known. There are some control schemes like the adaptive control scheme which do not require a detailed description of the dynamic model. However, it is necessary to verify the effectiveness of these control schemes with an exact dynamic model before applying them to real system.
A dynamic model for a manipulator is defined using such mechanical parameters as the mass, center of mass, inertia tensor matrix and friction for each link. Usually, it is difficult to obtain exact values for these parameters.
This paper presents a parameter identification scheme for a mechanical manipulator modeled on an open-rigid-link-chained mechanism. Dynamic equations for the manipulators are nonlinear, however linear input-ouput equations for the kinetic parameters of dynamic equations have been developed. Kinetic parameters are estimated by an instrument variable method based on these input-output equations. It is shown by theorem and simulation results that the instrument variable method asmptotically yields consistent estimates of the parameters. Moreover, the effectiveness of the proposed method is verified by experimental results using a 6-degree-of-freedom manipulator.
