Degrade of identification accuracy of inertial terms caused by coupling vibration and its modification.

• WAKUI Shinji

  キャノン株式会社

• MITA Tsutomu

  千葉大学工学部

Bibliographic Information

Other Title

• 連成振動による慣性項同定精度の劣化とその改善

Abstract

We have already proposed an identification method of inertial terms of a robot arm based on the mass loading effect of mechanical resonance. This method assumes that the mechanical cramp is prepared for every joint axis except for the measured joint. Although the measurements are performed without mechanical cramp.<BR>Analyzing the effect of identification accuracy under the condition of non-mechanical cramp, it is clarified that some estimation errors due to the coupling vibration occur.<BR>In this paper, we propose a modified identification method of inertial terms with the positive feedback of velocity and acceleration.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 7 (3), 195-198, 1989

  The Robotics Society of Japan

Keywords

• Robot Arm
• Mechanical Resonance
• Parameter Identification
• Coupling Vibration

Details

• CRID: 1390001204725747328
• NII Article ID: 130000849972
• DOI: 10.7210/jrsj.7.3_195
• ISSN: 18847145
• ISSN: 02891824
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed