A New Parameter Identification Method for Industrial Robots with Friction

Machines

Bin Kou¹  Dongcheng Ren¹  Shijie Guo¹  Pengpeng Wang¹  Jie Zhang²  Yao Huang² 

[1] Academy for Enigineering and Technology, Fudan University, Shanghai 200433, China;School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China;

关键词: industrial robot;    friction force;    random wandering simulated annealing variable step beetle antennae search algorithm;    beetle antennae search algorithm;   

DOI  :  10.3390/machines10050349

来源: DOAJ

【 摘 要 】

Commonly used intelligent algorithms that are used to identify the parameters of friction of industrial robots have poor accuracy or involve complex coding, which is not conducive to their use in engineering. This paper uses the random wandering simulated annealing-based variable-step beetle antennae search (RWSAVSBAS) algorithm to identify the parameters of friction of industrial robots. The moment of friction of the third joint of the robot is experimentally obtained and used to establish a Stribeck friction model. Following this, the RWSAVSBAS algorithm is used to identify the frictional parameters of the industrial robot. These parameters can be used to accurately predict the friction-induced torque of the robot.

【 授权许可】

Unknown