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동역학 파라미터의 추정에 대한 마찰력의 영향 및 보상

Title
동역학 파라미터의 추정에 대한 마찰력의 영향 및 보상
Author
박종현
Keywords
friction(마찰력); identification(아이덴티피케이션); compensation(보상); inertial parameter(동역학 파라미터)
Issue Date
2011-05
Publisher
제어로봇시스템학회
Citation
제어로봇시스템학회 국내학술대회 논문집, Vol.2011 No.5 [2011], 23-28(6쪽)
Abstract
Many advanced control schemes depend on the dynamic of robots. Thus, the control performance of robots could be more accurate if a more precise dynamic model is available. To know the precise dynamic model, inertial parameters of robot have to be estimated. The identification is a method that estimates the inertial parameters by the relation between inputs and outputs for system. However, the inputs and outputs for system are sensitivity for disturbance and noise. Finally, the inertial parameters cannot be estimated precisely if the disturbance and noise exist. To estimate the inertial parameters accurately, this paper shows the importance of friction compensation for the identification using a comparison of the estimation performance between a system with friction and a system with friction compensation.
URI
http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02033963
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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