Model generation and parameter identification of unknown environment using element description method

Issei Takeuchi, Seiichiro Katsura

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ330-335
ページ数6
ISBN(電子版)9781509045389
DOI
出版ステータスPublished - 2017 5月 6
イベント2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
継続期間: 2017 2月 132017 2月 15

出版物シリーズ

名前Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017

Other

Other2017 IEEE International Conference on Mechatronics, ICM 2017
国/地域Australia
CityGippsland
Period17/2/1317/2/15

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学
  • 制御と最適化

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