Abstract
This paper discusses a technique for identifying the joint parameters of a modular robot in order to study the dynamic characteristics of the whole structure and to realise dynamic control. A method for identifying the joint parameters of the structure applying fuzzy logic combined with a genetic algorithm has been studied using a 9-DOF modular redundant robot. A Genetic Algorithm was used in the fuzzy optimisation, which helped to avoid converging to locally optimal solutions and made the results identified much more reasonable. The joint parameters of a 9-DOF modular redundant robot have been identified.
| Original language | English |
|---|---|
| Pages (from-to) | 509-517 |
| Number of pages | 9 |
| Journal | Robotica |
| Volume | 20 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 1 Sept 2002 |
| Externally published | Yes |
Keywords
- Modal analysis
- Modular robots
- Parameter identification
- Vibration control
ASJC Scopus subject areas
- Control and Systems Engineering