Stochastic parameter identification for precise motion control |
1. Dynamic equation and minimum set of dynamics parameters Robot dynamics is represented by;and it is also represented by; using minimum set od dynamics parameters. The minimum set of dynamics parameters are the minimum number of physical parameters to express the dynamic equations, and consist of mass, moment of inertia, and so on. |
2. Parameter identificaion via Least Square Method The parameters p are normally identified from the data of joint angles, angular velocities, angular accelerations and torques obtained by moving the robot based on Least Square Method minimizing the following evaluation function.However, this is a minimization of the difference between the left and right sides of the equation of motion and cannot evaluate thet error of p.
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