A New Closed-Loop Input Error Approach for Industrial Robot Manipulator Identification Based on Evolutionary Algorithms

By exploiting the concept of closed-loop input error (CLIE), this article proposes an identification approach for the dynamic parameters of industrial robot manipulator based on evolutionary algorithms (EAs). The proposed algorithm estimates the dynamic parameters by using joint torque residuals bet...

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Veröffentlicht in:	IEEE transactions on control systems technology Jg. 32; H. 4; S. 1196 - 1211
Hauptverfasser:	Huang, Hao-Lun, Cheng, Ming-Yang
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.07.2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Automation Closed loop systems Closed loops Closed-loop system identification estimation error Evolutionary algorithms evolutionary algorithms (EAs) Filtration Friction Genetic algorithms Heuristic algorithms industrial robot manipulator Industrial robots Manipulator dynamics Manipulators Mathematical models Measurement uncertainty Parameter identification Robot arms Robots Solution space System identification Torque Trajectory control
ISSN:	1063-6536, 1558-0865
Online-Zugang:	Volltext
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