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An NC Code Based Machining Movement Simulation Method for a Parallel Robotic Machine Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Dynamic Identification for Industrial Robot Manipulators Based on Glowworm Optimization Algorithm

Authors : Li Ding, Wentao Shan, Chuan Zhou, Wanqiang Xi

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

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Abstract

Dynamical identification methods for the industrial robot manipulators are widely and successfully applied to obtain a model that is suitable for controller design. In this paper, the dynamical model of robot was obtained by Newton-Euler method and linearized by a particular approach. A novel glowworm swarm optimization algorithm was introduced to estimate the unknown parameters. The algorithm had been coded in the popular Matlab environment and the procedure was tested in a practical case research to identify the dynamical model of a six degree-of-freedom industrial robot. The results of the identification experiment showed the efficiency of the proposed algorithm.

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Metadata
Title
Dynamic Identification for Industrial Robot Manipulators Based on Glowworm Optimization Algorithm
Authors
Li Ding
Wentao Shan
Chuan Zhou
Wanqiang Xi
Copyright Year
2017
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-319-65291-7

Electronic ISBN: 978-3-319-65292-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-65292-4_68

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