| 摘要 |
PURPOSE: To easily identify a dynamic characteristic parameter specific to a manipulator by measuring a revolute joint angle, angular velocity, angular acceleration, driving torque of the number of points by which equations equal to unknown constants in number can be obtained. CONSTITUTION: For finding unknown constants existing in an equation of motion, revolute joint anglesθ1 ,θ2 , revolute joint angular velocity, revolute joint angular acceleration, and revolute joint driving torque of the manipulator are measured while the manipulator is operated, and simultaneous linear equations, which are equal in number to the unknown constants, are obtained. When these simultaneous linear equations are solved, a dynamic characteristic parameter, which is necessary for nonlinear type compensation control of the robot manipulator and specific to the manipulator, is identified. As these simultaneous linear equations are solved, labor for measurement can be reduced as much as possible, and at the same time, the dynamic characteristic parameter specific to the manipulator can be identified with fewer errors.
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