TY - GEN
T1 - Model generation and parameter identification of unknown environment using element description method
AU - Takeuchi, Issei
AU - Katsura, Seiichiro
N1 - Funding Information:
This research was partially supported by the Matching Planner Program from Japan Science and Technology Agency. JST.
Publisher Copyright:
© 2017 IEEE.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2017/5/6
Y1 - 2017/5/6
N2 - This paper proposes an identification method of unknown environment for motion control. The proposed method can estimate a physical model and its parameter simultaneously by using element description method. In this paper, the proposed method is applied to identification of environmental characteristics. General identification methods need to decide a physical model of target in advance. In another approaches such as neural network and black-box modeling methods by database, notwithstanding achieving input-output characteristics, these methods are difficult to understand the physical meaning of target environment. On the contrary, the proposed method can identify not only parameter but also a physical model of environment, which is the merit of the proposed method. Also the physical meaning of target environment is understandable according to element description. By using the proposed method, ideal controller for contact task can be designed based on environmental model and its parameter. It may be possible to discover a new physical property of environment.
AB - This paper proposes an identification method of unknown environment for motion control. The proposed method can estimate a physical model and its parameter simultaneously by using element description method. In this paper, the proposed method is applied to identification of environmental characteristics. General identification methods need to decide a physical model of target in advance. In another approaches such as neural network and black-box modeling methods by database, notwithstanding achieving input-output characteristics, these methods are difficult to understand the physical meaning of target environment. On the contrary, the proposed method can identify not only parameter but also a physical model of environment, which is the merit of the proposed method. Also the physical meaning of target environment is understandable according to element description. By using the proposed method, ideal controller for contact task can be designed based on environmental model and its parameter. It may be possible to discover a new physical property of environment.
KW - Motion control
KW - element description
KW - genetic algorithm
KW - system identification
UR - http://www.scopus.com/inward/record.url?scp=85020000078&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85020000078&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2017.7921126
DO - 10.1109/ICMECH.2017.7921126
M3 - Conference contribution
AN - SCOPUS:85020000078
T3 - Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
SP - 330
EP - 335
BT - Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Mechatronics, ICM 2017
Y2 - 13 February 2017 through 15 February 2017
ER -