METHOD FOR IDENTIFYING BASE PARAMETER OF INVERSE-DYNAMIC MODEL

摘要

PURPOSE:To easily and exactly identify various parameters by calculating the error of a base parameter from the value of torque error by the method of least squares. CONSTITUTION:The base parameter is used to express coefficients of a position thetad, a speed dthetad, and an acceleration d2thetad in the motion equation of the torque acting upon a mobile body which has the position, the speed, and the acceleration of the mobile object as variables. When this base parameter is identified to obtain the torque corresponding to the target position, the speed, and the acceleration of the mobile object, the torque error is calculated in accordance with the value of torque including error obtained by design data of the mobile object and that obtained by the feedback error learning technique of a neural circuit model, and the error of the base parameter is calculated in accordance with the value of this torque error by the method for least squares. Consequently, the mobile object is controlled without being much deviated from a target locus.