マニピュレータに対するパラメータ同定試験の評価

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  • Evaluation of Parameter Identification Tests for Manipulators
  • マニピュレータ ニ タイスル パラメータ ドウテイ シケン ノ ヒョウカ

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Precise dynamic models are necessary for various advanced control of manipulators. Several identification methods have been studied so far, but there has not been any quantitative evaluation method of identified parameter values or identification tests. In this paper, a criterion for evaluation of the identification tests is proposed. According to this criterion, it is one of the desirable identification tests to take data for manipulator motions which are similar to those used during the actual application of the manipulator.

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