A complete and systematic procedure for the dynamical parameters identification of industrial robot manipulator is presented.The\nsystem model of robot including joint friction model is linear with respect to the dynamical parameters. Identification experiments\nare carried out for a 6-degree-of-freedom (DOF) ER-16 robot. Relevant data is sampled while the robot is tracking optimal\ntrajectories that excite the system. The artificial bee colony algorithm is introduced to estimate the unknown parameters. And we\nvalidate the dynamical model according to torque prediction accuracy. All the results are presented to demonstrate the efficiency\nof our proposed identification algorithm and the accuracy of the identified robot model.
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