IDENTIFICATION OF JOINT DYNAMIC PARAMETERS OF MODULAR MANIPULATOR VIA FUZZY OPTIMIZATION

Abstract

Abstract: In order to identify the joint equivalent dynamic parameters of the mechanic-electronic structural system reasonably and precisely, a fuzzy 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 the presented method is reasonable and effective.

Key words: Fuzzy optimization, Modular robot, Parameter identification

CLC Number:

TH113.1

Liu Xiaoping;Peng Zhaoyang;Liu Yugang;Li Yangmin. IDENTIFICATION OF JOINT DYNAMIC PARAMETERS OF MODULAR MANIPULATOR VIA FUZZY OPTIMIZATION[J]. , 2003, 39(4): 66-70.

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IDENTIFICATION OF JOINT DYNAMIC PARAMETERS OF MODULAR MANIPULATOR VIA FUZZY OPTIMIZATION

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