Identification of joint dynamic parameters of modular manipulator via fuzzy optimization

Xiaoping Liu, Zhaoyang Peng, Yugang Liu, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

2 Citations (Scopus)

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 languageEnglish
Pages (from-to)66-70
Number of pages5
JournalJixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering
Volume39
Issue number4
Publication statusPublished - 1 Apr 2003
Externally publishedYes

Keywords

  • Fuzzy optimization
  • Modular robot
  • Parameter identification

ASJC Scopus subject areas

  • Mechanical Engineering

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