Dynamic Model Identification for 6-DOF Industrial Robots
Joint Authors
Yu, Yao
Ding, Li
Yang, Yuxuan
Hongtao, Wu
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-10-29
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Ding, Li& Hongtao, Wu& Yu, Yao& Yang, Yuxuan. 2015. Dynamic Model Identification for 6-DOF Industrial Robots. Journal of Robotics،Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1070027
Modern Language Association (MLA)
Ding, Li…[et al.]. Dynamic Model Identification for 6-DOF Industrial Robots. Journal of Robotics No. 2015 (2015), pp.1-9.
https://search.emarefa.net/detail/BIM-1070027
American Medical Association (AMA)
Ding, Li& Hongtao, Wu& Yu, Yao& Yang, Yuxuan. Dynamic Model Identification for 6-DOF Industrial Robots. Journal of Robotics. 2015. Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1070027
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1070027