| 摘要 |
PURPOSE: To obtain the gravity parameter with excellent accuracy by moving the specified section of a motor in the forward direction at a constant speed, moving the same section in the reverse direction, integrating the current in each movement, adding the respective integrated values, and estimating the link parameter on the gravity. CONSTITUTION: In the reciprocating motion of the first axis, other hinges are fixed so as not to make a movement. The gravity parameter is obtained by integrating the motion torque of the first axis when the second axis takes two kinds of positions. That means, a command is given to achieve the reciprocating motion of the specified section of the first axis at the constant speed with the second axis at the positionθ21 . The integrated values of the torque command are ING1(T +) and ING(T) respectively. Then, the attitude of the second axis is changed, and the integrated values of the torque command are ING2 (T+) and ING2 (T-) respectively. The parameters I1 I2 are determined based on the sums of these values, i.e., Tg11, Tg12 and the formula, and the link parameter on the gravity is estimated.
|
