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Dynamic Identification for Industrial Robot Manipulators Based on Glowworm Optimization Algorithm

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10463))

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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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Acknowledgement

This work was partially supported by the National Natural Sciences Foundation of China (51405209), the National 863 Science and Technology Support program (2013AA041004) and the project of Science and Technology Support Plan of Jiangsu province (BE2013003-1, BE2013010-2).

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Authors and Affiliations

  1. College of Mechanical Engineering, Jiangsu University of Technology, Changzhou, 213001, China

    Li Ding & Wentao Shan

  2. School of Business, Jiangsu University of Technology, Changzhou, 213001, China

    Chuan Zhou

  3. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

    Wanqiang Xi

Authors
  1. Li Ding
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  2. Wentao Shan
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  3. Chuan Zhou
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  4. Wanqiang Xi
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Corresponding author

Correspondence to Li Ding .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Ding, L., Shan, W., Zhou, C., Xi, W. (2017). Dynamic Identification for Industrial Robot Manipulators Based on Glowworm Optimization Algorithm. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_68

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

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65291-7

  • Online ISBN: 978-3-319-65292-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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