Dynamic Model Identification for 6-DOF Industrial Robots
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-free...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2015-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2015/471478 |
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| _version_ | 1832564998132465664 |
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| author | Li Ding Hongtao Wu Yu Yao Yuxuan Yang |
| author_facet | Li Ding Hongtao Wu Yu Yao Yuxuan Yang |
| author_sort | Li Ding |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-f7dd74ea1525498abc4c2256ec19b7c4 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-f7dd74ea1525498abc4c2256ec19b7c42025-02-03T01:09:48ZengWileyJournal of Robotics1687-96001687-96192015-01-01201510.1155/2015/471478471478Dynamic Model Identification for 6-DOF Industrial RobotsLi Ding0Hongtao Wu1Yu Yao2Yuxuan Yang3College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, No. 29, Yudao Street, Nanjing 210016, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, No. 29, Yudao Street, Nanjing 210016, ChinaCollege of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, No. 29, Yudao Street, Nanjing 210016, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, No. 29, Yudao Street, Nanjing 210016, ChinaA 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.http://dx.doi.org/10.1155/2015/471478 |
| spellingShingle | Li Ding Hongtao Wu Yu Yao Yuxuan Yang Dynamic Model Identification for 6-DOF Industrial Robots Journal of Robotics |
| title | Dynamic Model Identification for 6-DOF Industrial Robots |
| title_full | Dynamic Model Identification for 6-DOF Industrial Robots |
| title_fullStr | Dynamic Model Identification for 6-DOF Industrial Robots |
| title_full_unstemmed | Dynamic Model Identification for 6-DOF Industrial Robots |
| title_short | Dynamic Model Identification for 6-DOF Industrial Robots |
| title_sort | dynamic model identification for 6 dof industrial robots |
| url | http://dx.doi.org/10.1155/2015/471478 |
| work_keys_str_mv | AT liding dynamicmodelidentificationfor6dofindustrialrobots AT hongtaowu dynamicmodelidentificationfor6dofindustrialrobots AT yuyao dynamicmodelidentificationfor6dofindustrialrobots AT yuxuanyang dynamicmodelidentificationfor6dofindustrialrobots |