Abstract
Abstract
In this paper, a linearized robot dynamics model is first established. The DH parameters and physical constraints of the robot are given. The joint motion trajectory based on Fourier series is designed then. By setting the conditional number of the observation matrix as the objective function, an Biogeography-based optimization algorithm is applied to identify the dynamic parameters of the robot. The physical constraint calibration and predictive torque results are compared with the traditional genetic algorithm to verify the advanced nature of our method.
Subject
General Physics and Astronomy
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