Dynamic Model Identification for 6-DOF Industrial Robots
Open Access
- 29 October 2015
- journal article
- research article
- Published by Hindawi Limited in Journal of Robotics
- Vol. 2015, 1-9
- https://doi.org/10.1155/2015/471478
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.Keywords
Funding Information
- National Natural Science Foundation of China (51375230, BE2013003-1, BE2013010-2)
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