매니퓰레이터의 파라미터 추정을 위한 퓨리에 급수를 이용한 최적 가진 경로 설계

초록

Parameter identification is a useful technology to maintain robot performance regardless of changing tools and to apply advanced control algorithms such as model based controls. Weighted least square method and Maximum likelihood method have been usally used ofr parameter identificatioin method. Those methods assume that the robot dnamics is linear with respect to vector of unknown parameters. Because nonlinear equation is changed into linear form, excitation trajectory is necessary for good parameter identification. In this paper, Fourier series and optimization are used to find an excitation trajectory for parameter estimation. Simulation was performed with a 2-link planar robot manipulator to show the effectiveness of the proposed method.

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