동역학 파라미터의 추정에 대한 마찰력의 영향 및 보상

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.