Abstract
A complete and systematic procedure for the dynamical parameters identification of industrial robot manipulator is presented. The system model of robot including joint friction model is linear with respect to the dynamical parameters. Identification experiments are carried out for a 6-degree-of-freedom (DOF) ER-16 robot. Relevant data is sampled while the robot is tracking optimal trajectories that excite the system. The artificial bee colony algorithm is introduced to estimate the unknown parameters. And we validate the dynamical model according to torque prediction accuracy. All the results are presented to demonstrate the efficiency of our proposed identification algorithm and the accuracy of the identified robot model.
Highlights
In recent years, industrial robots have been greatly used as orienting devices in industry, especially in the shipbuilding, automotive, and aerospace manufacturing industries [1, 2]
In terms of academic research, a standard robot identification procedure consists of dynamic modeling, excitation trajectory design, data collection, signal preprocess, parameter identification, and model validation [3]
Since our aim for current stage is to investigate the validity of the model calculated by our proposed method, we focus on the validation test
Summary
Industrial robots have been greatly used as orienting devices in industry, especially in the shipbuilding, automotive, and aerospace manufacturing industries [1, 2]. The dynamical model of robot contains uncertainties in some parameters and many control methods are sensitive to their values especially in high speed operations. Gautier and Poignet [6] obtained a dynamical model of SCARA robot from experimental data with weighted least squares method. Artificial bee colony algorithm (ABC) was first proposed by Karaboga in 2005 [10] and successfully applied to parameters identification of aerial robot [11]. The ABC algorithm was introduced to conquer the parameters identification problem of the industrial robots.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
