Robot Dynamic Parameter Identification based on BBO Algorithm

In this paper, a linearized robot dynamics model is first established. The DH parameters and physical constraints of the robot are given. The joint motion trajectory based on Fourier series is designed then. By setting the conditional number of the observation matrix as the objective function, an Bi...

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Bibliographic Details
Published in:Journal of physics. Conference series 2019-06, Vol.1237 (2), p.22187
Main Authors: Xu, Yu-xuan, Ke, Shao-yu
Format: Article
Language:English
Subjects:
Algorithms
Fourier series
Genetic algorithms
Optimization
Parameter identification
Robot dynamics
Robots
Citations: Items that this one cites
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Summary:In this paper, a linearized robot dynamics model is first established. The DH parameters and physical constraints of the robot are given. The joint motion trajectory based on Fourier series is designed then. By setting the conditional number of the observation matrix as the objective function, an Biogeography-based optimization algorithm is applied to identify the dynamic parameters of the robot. The physical constraint calibration and predictive torque results are compared with the traditional genetic algorithm to verify the advanced nature of our method.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/1237/2/022187