Industrial Manipulator Dynamic Parameter Estimation Using Mutating Particle Swarm Optimization (Mupso)
Keywords:Industrial manipulators, Dynamic model, Parameter Estimation, Mutating PSO
This work aims at developing a dynamic model and estimating the unknown parameters of the first three joints (at the arm) of a 6 degree of freedom industrial robot manipulator, a finite Fourier series algorithm was used to design an excitation trajectory, a mutating particle swarm optimization algorithm was used to optimise the parameters of the Fourier series thereby minimizing the condition number of the observation matrix, and a linear least-squares methods was implemented for estimation the unknown dynamic parameters of the manipulator. A mutation function was implemented to break the algorithm out of stagnation. Out of the thirty unknown parameters at the industrial manipulator arm, twenty were identified independently, two were identifiable in linear combinations, and the remaining eight parameters were unidentifiable. The mutating particle swarm optimization algorithm dominated other algorithms and was found suitable for robot dynamic analysis.
Copyright (c) 2021 Nigerian Journal of Technology
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
The contents of the articles are the sole opinion of the author(s) and not of NIJOTECH.
NIJOTECH allows open access for distribution of the published articles in any media so long as whole (not part) of articles are distributed.
A copyright and statement of originality documents will need to be filled out clearly and signed prior to publication of an accepted article. The Copyright form can be downloaded from http://nijotech.com/downloads/COPYRIGHT%20FORM.pdf while the Statement of Originality is in http://nijotech.com/downloads/Statement%20of%20Originality.pdf
For articles that were developed from funded research, a clear acknowledgement of such support should be mentioned in the article with relevant references. Authors are expected to provide complete information on the sponsorship and intellectual property rights of the article together with all exceptions.
It is forbidden to publish the same research report in more than one journal.