Abstract
In order to identify the joint equivalent dynamic parameters of mechanic-electronic structural system reasonably and precisely, a fuzzy optimization based identification method is presented. The 9 DOFs modular redundant robot is taken as the researched object, and its joint equivalent dynamic parameters are identified. The dynamic model of the robot is obtained by using these identified joint parameters and the finite element models of the modules of the robot. The comparison between the analytical model with the experimental results shows that the presented method is reasonable and effective.
| Original language | English |
|---|---|
| Pages (from-to) | 66-70 |
| Number of pages | 5 |
| Journal | Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering |
| Volume | 39 |
| Issue number | 4 |
| Publication status | Published - 1 Apr 2003 |
| Externally published | Yes |
Keywords
- Fuzzy optimization
- Modular robot
- Parameter identification
ASJC Scopus subject areas
- Mechanical Engineering