エネルギー収支に基づく未知物体把持後の自由飛行ロボットのパラメータ同定
An Energy Balance Based Method for Parameter Identification of a Free-Flying Robot Grasping An Unknown Object
自由飛行ロボットが未知物体を把持した後の慣性パラメータを、励起軌道の最適化とエネルギー収支に基づくフーリエ級数の調和数決定により同定する手法を提案し、入力飽和の影響も解析した。
著者: Monica Ekal, Rodrigo Ventura
分類: cs.RO
原文アブストラクト
The estimation of inertial parameters of a robotic system is crucial for better trajectory tracking performance, specially when model-based controllers are used for carrying out precise tasks. In this paper, we consider the scenario of grasping an object of unknown properties by a free-flyer space robot with limited actuation. The problem is to find the inertial parameters of the complete system after grasping has been performed. Excitation is provided in inertial space, and the excitation trajectories are found by optimization. Truncated Fourier series are used to represent the reference as well as tracked trajectory. An approach based on the energy balance between the actuation work and the rate of change of kinetic energy is introduced to calculate the number of harmonics in the Fourier series used to represent the executed trajectory, while trying to find a balance between accounting for saturation effects and keeping out noise. The effect of input saturation on parameter estimation is also studied. Simulation results using the Space CoBot free-flyer robot are presented to show the feasibility of the approach.
