PARAMETER IDENTIFYING DEVICE, METHOD, AND PROGRAM

摘要

For faster identification of the parameter in a mathematical model for a robot, a trajectory generator (52) generates a trajectory of movement of a robot (16) satisfying an identification condition for the parameter to identify a parameter in a robot model (58). A data obtainer (54) obtains data representing torque generated in the robot (16) moving in accordance with the trajectory generated by the trajectory generator (52). An identifier (56) identifies the parameter in the robot model (58) based on the trajectory generated by the trajectory generator (52) and based on the data obtained by the data obtainer (54).