Nonlinear Friction and Dynamical Identification for a Robot Manipulator with Improved Cuckoo Search Algorithm
This paper concerns the problem of dynamical identification for an industrial robot manipulator and presents an identification procedure based on an improved cuckoo search algorithm. Firstly, a dynamical model of a 6-DOF industrial serial robot has been derived. And a nonlinear friction model is add...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2018-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/8219123 |
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| _version_ | 1849411048233238528 |
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| author | Li Ding Xingcheng Li Qilin Li Yuan Chao |
| author_facet | Li Ding Xingcheng Li Qilin Li Yuan Chao |
| author_sort | Li Ding |
| collection | DOAJ |
| description | This paper concerns the problem of dynamical identification for an industrial robot manipulator and presents an identification procedure based on an improved cuckoo search algorithm. Firstly, a dynamical model of a 6-DOF industrial serial robot has been derived. And a nonlinear friction model is added to describe the friction characteristic at motion reversal. Secondly, we use a cuckoo search algorithm to identify the unknown parameters. To enhance the performance of the original algorithm, both chaotic operator and emotion operator are employed to help the algorithm jump out of local optimum. Then, the proposed algorithm has been implemented on the first three joints of the ER-16 robot manipulator through an identification experiment. The results show that (1) the proposed algorithm has higher identification accuracy over the cuckoo search algorithm or particle swarm optimization algorithm and (2) compared to linear friction model the nonlinear model can describe the friction characteristic of joints better. |
| format | Article |
| id | doaj-art-5c7953e55c9348ebbece3b1c88f5bc77 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-5c7953e55c9348ebbece3b1c88f5bc772025-08-20T03:34:53ZengWileyJournal of Robotics1687-96001687-96192018-01-01201810.1155/2018/82191238219123Nonlinear Friction and Dynamical Identification for a Robot Manipulator with Improved Cuckoo Search AlgorithmLi Ding0Xingcheng Li1Qilin Li2Yuan Chao3College of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213001, ChinaCollege of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213001, ChinaCollege of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213001, ChinaCollege of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213001, ChinaThis paper concerns the problem of dynamical identification for an industrial robot manipulator and presents an identification procedure based on an improved cuckoo search algorithm. Firstly, a dynamical model of a 6-DOF industrial serial robot has been derived. And a nonlinear friction model is added to describe the friction characteristic at motion reversal. Secondly, we use a cuckoo search algorithm to identify the unknown parameters. To enhance the performance of the original algorithm, both chaotic operator and emotion operator are employed to help the algorithm jump out of local optimum. Then, the proposed algorithm has been implemented on the first three joints of the ER-16 robot manipulator through an identification experiment. The results show that (1) the proposed algorithm has higher identification accuracy over the cuckoo search algorithm or particle swarm optimization algorithm and (2) compared to linear friction model the nonlinear model can describe the friction characteristic of joints better.http://dx.doi.org/10.1155/2018/8219123 |
| spellingShingle | Li Ding Xingcheng Li Qilin Li Yuan Chao Nonlinear Friction and Dynamical Identification for a Robot Manipulator with Improved Cuckoo Search Algorithm Journal of Robotics |
| title | Nonlinear Friction and Dynamical Identification for a Robot Manipulator with Improved Cuckoo Search Algorithm |
| title_full | Nonlinear Friction and Dynamical Identification for a Robot Manipulator with Improved Cuckoo Search Algorithm |
| title_fullStr | Nonlinear Friction and Dynamical Identification for a Robot Manipulator with Improved Cuckoo Search Algorithm |
| title_full_unstemmed | Nonlinear Friction and Dynamical Identification for a Robot Manipulator with Improved Cuckoo Search Algorithm |
| title_short | Nonlinear Friction and Dynamical Identification for a Robot Manipulator with Improved Cuckoo Search Algorithm |
| title_sort | nonlinear friction and dynamical identification for a robot manipulator with improved cuckoo search algorithm |
| url | http://dx.doi.org/10.1155/2018/8219123 |
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