Hybrid Optimal Kinematic Parameter Identification for an Industrial Robot Based on BPNN-PSO
Joint Authors
Gao, Guanbin
Wu, Xing
San, Hongjun
Liu, Fei
Wang, Wen
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-07-08
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
A novel hybrid algorithm that employs BP neural network (BPNN) and particle swarm optimization (PSO) algorithm is proposed for the kinematic parameter identification of industrial robots with an enhanced convergence response.
The error model of the industrial robot is established based on a modified Denavit-Hartenberg method and Jacobian matrix.
Then, the kinematic parameter identification of the industrial robot is transformed to a nonlinear optimization in which the unknown kinematic parameters are taken as optimal variables.
A hybrid algorithm based on a BPNN and the PSO is applied to search for the optimal variables which are used to compensate for the error of the kinematic parameters and improve the positioning accuracy of the industrial robot.
Simulations and experiments based on a realistic industrial robot are all provided to validate the efficacy of the proposed hybrid identification algorithm.
The results show that the proposed parameter-identification method based on the BPNN and PSO has fewer iterations and faster convergence speed than the standard PSO algorithm.
American Psychological Association (APA)
Gao, Guanbin& Liu, Fei& San, Hongjun& Wu, Xing& Wang, Wen. 2018. Hybrid Optimal Kinematic Parameter Identification for an Industrial Robot Based on BPNN-PSO. Complexity،Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1134057
Modern Language Association (MLA)
Gao, Guanbin…[et al.]. Hybrid Optimal Kinematic Parameter Identification for an Industrial Robot Based on BPNN-PSO. Complexity No. 2018 (2018), pp.1-11.
https://search.emarefa.net/detail/BIM-1134057
American Medical Association (AMA)
Gao, Guanbin& Liu, Fei& San, Hongjun& Wu, Xing& Wang, Wen. Hybrid Optimal Kinematic Parameter Identification for an Industrial Robot Based on BPNN-PSO. Complexity. 2018. Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1134057
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1134057