シリアル2リンク2慣性系の非干渉化同定と物理パラメータ推定 Decoupling Identification and Physical Parameter Estimation for Serial Two-Link Two-Inertia System

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著者

    • 大明 準治 OAKI Junji
    • 慶應義塾大学 理工学部 物理情報工学科 Department of Applied Physics and Physico-Informatics Faculty of Science and Technology, Keio University
    • 足立 修一 ADACHI Shuichi
    • 慶應義塾大学 理工学部 物理情報工学科 Department of Applied Physics and Physico-Informatics Faculty of Science and Technology, Keio University

抄録

This paper proposes a multivariable identification method for a SCARA-type planar two-link robot arm with elastic joints caused by reduction gears, which is treated as a serial two-link two-inertia system. The arm for the experimental verification is equipped with accelerometers that have the two roles described below. The proposed method consists of three steps. The first step is the rigid model parameter estimation by the least-squares method. The second step is the elastic model identification using a multi-input multi-output state space model technique, which enables the nonlinear interaction torques between two links to be decoupled. The torques, calculated using the accelerometer signals and the rigid model parameters, are employed as inputs for decoupling in the multi-input identification. The angular velocities of the links, calculated using the accelerometer signals and the motor encoder signals, are employed as outputs for improving accuracy in the multi-output identification. The decoupling method divides the serial two-link two-inertia system into two one-link two-inertia systems in this step. The third step is the physical parameter estimation of the one-link two-inertia systems. The physical parameters consist of motor inertias, link inertias, joint-friction coefficients and joint-spring coefficients. Furthermore fine tuning of the estimated physical parameters is carried out using closed-loop simulations with the nonlinear least-squares optimization. Experimental results using the two-link arm have shown the accuracy of the proposed identification method.

収録刊行物

  • 電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society  

    電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 128(5), 669-677, 2008-05-01 

    The Institute of Electrical Engineers of Japan

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各種コード

  • NII論文ID(NAID)
    10021134366
  • NII書誌ID(NCID)
    AN10012320
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    09136339
  • NDL 記事登録ID
    9496066
  • NDL 雑誌分類
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL 請求記号
    Z16-1608
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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