首页|New Robotics Study Findings Have Been Reported from Tokyo Institute of Technolog y (Simultaneous identification of dynamics parameters and spillover of multi-lin k system in periodic motion and control system design)
New Robotics Study Findings Have Been Reported from Tokyo Institute of Technolog y (Simultaneous identification of dynamics parameters and spillover of multi-lin k system in periodic motion and control system design)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – New study results on robotics have bee n published. According to news reporting out of the Tokyo Institute of Technolog y by NewsRx editors, research stated, “Modeling methods of a robot dynamics incl ude (i) obtaining the equations of motion and identifying the dynamics parameter s, and (ii) system identification of the robot dynamical characteristics.” The news editors obtained a quote from the research from Tokyo Institute of Tech nology: “However, the parameters obtained in (i) are approximate solutions whose accuracy depends on the motion and environment in which the robot is operated, because the actual robot is finer and includes un-modeled dynamics. Therefore, a n appropriate evaluation index is required for identification. In (ii), the accu racy is low in the high-frequency domain due to the S/N ratio problem, which oft en causes spillover. In addition, in closed-loop identification, the inverse fun ction of the controller is identified due to noises. In this paper, we focus on the periodic motion of the end-effector of a planar 3-link manipulator and deriv e an error equation that exploits the periodicity of the motion to simultaneousl y identify the dynamics parameters and spillover. In particular, by selecting th e identification object to realize an open-loop identification, the identificati on of spillover has high accuracy.”
Tokyo Institute of TechnologyEmerging TechnologiesMachine LearningRobotRobotics
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