The Identification Method of Robot Actuator Parameters

被引：0
|
作者：
Laray, Alexander [1 ,2 ]
Yukhimets, Dmitry [1 ,2 ]
机构：
[1] RAS, FEB, Inst Automat & Control Proc, Robot Lab, Vladivostok 690041, Russia
[2] Far Eastern Fed Univ, Dept Automat & Control, Vladivostok 690000, Russia
来源：
2015 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2015年
关键词：
identification; dynamics; robot actuators; least mean square; nonlinear model;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
During the synthesis of control systems of movement of various robotic objects (wheeled robots, unmanned aerial vehicles (UAVs), underwater robots) the dynamics of their actuators play important role. The dynamics of these actuators affects significantly to the accuracy of the control system. The paper proposes an approach to the identification of the dynamic model of actuators of mobile robots illustrated by the UAV propeller as example. The feature of the proposed method is to use the method of least mean squares (LMS) to identify the parameters of nonlinear dynamic objects. The results of experimental research for the actuator of the UAV are presented in paper.
引用
收藏
页码：1624 / 1628
页数：5
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