Distinguishability and identifiability testing of contact state models
Distinguishability and identifiability testing of contact state models
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DOI：
10.1163/156855305323383794
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发表时间：
2005-01
影响因子：
2
通讯作者：
T. Debus;P. Dupont;R. Howe
中科院分区：
文献类型：
--
作者：
T. Debus;P. Dupont;R. Howe
顺应性运动控制的一个重要组成部分是任务执行期间接触状态的估计。本文解决了在制定接触状态的数学描述时必须回答的两个基本问题：接触状态是否可以相互区分？能否识别这些描述中未知或不精确已知的参数？提出了一种分析方法来评估非线性代数方程描述的一组接触状态模型的可区分性和可识别性问题。与现有的在线数值技术相比，这种方法可以在接触状态估计器的设计阶段使用，以选择接触模型和机器人传感器，以确保估计器的可行性。该方法使用多边形和多面体对象之间的接触来说明。
An important component of compliant motion control is the estimation of contact states during task execution. This paper addresses two fundamental questions that must be answered when formulating mathematical descriptions of contact states: are the contact states distinguishable from each other? and can the unknown or imprecisely known parameters in these descriptions be identified? An analytical method is presented for evaluating the distinguishability and identifiability questions of a set of contact state models described by non-linear algebraic equations. In contrast to existing, on-line numerical techniques, this approach can be used during the design phase of a contact state estimator to select contact models and robot sensors to ensure feasibility of the estimator. The approach is illustrated using contacts between polygonal and polyhedral objects.