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Manipulator dynamic model identification method based in improved artificial bee colony algorithm

A technology of artificial bee colony algorithm and dynamic model, which is applied in computing models, biological models, manipulators, etc.

Inactive Publication Date: 2018-10-30
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] The present invention overcomes the above-mentioned shortcomings of the prior art, utilizes the artificial bee colony optimization algorithm to be easy to implement, and is not easy to fall into local optimum when dealing with complex and large-scale parameter identification problems, and proposes an improved artificial bee colony Optimization (Artificial Bee Colony, ABC) Algorithm for Identification of Industrial Robot Dynamic Parameters

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  • Manipulator dynamic model identification method based in improved artificial bee colony algorithm
  • Manipulator dynamic model identification method based in improved artificial bee colony algorithm
  • Manipulator dynamic model identification method based in improved artificial bee colony algorithm

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Embodiment Construction

[0024] The method for identifying the dynamic model of the six-degree-of-freedom manipulator of the present invention will be further described below in conjunction with the accompanying drawings.

[0025] The identification method of the dynamic model of the six-degree-of-freedom manipulator mainly includes the following contents: firstly, the improved Newton-Euler method is used to establish a linear dynamic model of the manipulator considering joint friction, and then the artificial bee colony algorithm is introduced to establish an artificial bee colony-based Algorithms for estimating unknown dynamic parameters. Finally, the UR5 industrial robot is used as the experimental object. By designing the excitation trajectory, the joint motion of the industrial robot is stimulated, and the joint motion parameters are sampled to realize the estimation of the dynamic parameters of the UR5 industrial robot. Moment prediction accuracy validates the kinetic model. This method can be u...

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Abstract

The invention discloses a manipulator dynamic model identification method based in an improved artificial bee colony algorithm. A manipulator linear dynamic model taking joint friction into consideration is established through utilization of an improved Newton-Euler method. A dynamic parameter identification algorithm is designed through importing of the improved artificial bee colony algorithm. An UR industrial robot is taken as an experiment subject; through design of a stimulation track, joint movement of the industrial robot is stimulated; the joint movement data is sampled; after torque is filtered, parameter identification is carried out through utilization of the improved artificial bee colony algorithm; the dynamic parameter estimation of the UR industrial robot is realized; and the dynamic model is verified according to the torque prediction precision. An experiment shows the accuracy and effectiveness of the industrial robot dynamic model the identified by the invention.

Description

technical field [0001] The invention relates to a dynamic model identification method of a robot manipulator. Background technique [0002] In recent years, industrial robots have been widely used in various fields of industrial production, especially in shipbuilding, automobile and aviation manufacturing. As the computing power of computers continues to increase and the cost of computing decreases, advanced control techniques applied to robots become more feasible. However, the dynamic model of the manipulator contains some unknown parameters, and many robot control methods rely on these unknown values, especially in the case of high-speed motion. Therefore, the dynamic parameter identification method is of great significance to the development of model-based control methods. [0003] At present, a standard dynamics identification process of a manipulator includes dynamics modeling, excitation trajectory design, data acquisition, parameter identification, and model verifi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50G06N3/00B25J9/16
CPCB25J9/1605G06F30/20G06N3/006
Inventor 禹鑫燚王正安欧林林朱峰朱熠琛卢靓
Owner ZHEJIANG UNIV OF TECH
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