Parameter identification method, identification device and identification program for vertical multi-joint hydraulic manipulator

摘要

PROBLEM TO BE SOLVED: To propose a parameter identification method for a vertical multijoint hydraulic manipulator which has an unknown bulk modulus or an unknown flow rate coefficient.SOLUTION: In a parameter identification method for a vertical multijoint hydraulic manipulator, a state space equation (Formula (1)) representing a non-linear model of the vertical multijoint hydraulic manipulator is determined, and then, unknown parameters are identified by using a new sequential identification method that is a modification of a conventional sequential identification method. In the identification method, at each of steps 1-3, a linear equation regarding unknown parameters including a bulk modulus or a flow rate coefficient is established on the basis of the state space equation without carrying out parameter identifying calculation. At the final step 4, the linear equation regarding unknown parameters is strictly integrated with two linear equations across all the steps. These linear equations are set in coalition over respective times to derive two normal equations (Formula (3)), and these normal equations are solved to identify the unknown parameters.