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The Identification Method of Robot Actuator Parameters
Alexander Laray,Dmitry Yukhimets 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
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.