Dynamic parameters identification of 7-DOF manipulator based on white shark algorithm
A dynamic parameter identification of joint robots based on white shark optimizer(WSO)is proposed.Firstly,the dynamic model of the 7-DOF manipulator is established by using SYMORO+and converted to an identifiable model.Secondly,the friction torque is extracted by the nature of the joint robot and used for identification of fric-tion-model.Then,the excitation trajectory is designed for the robot to track,and the friction term in the joint mo-ment signal is calculated and compensated by using the identified friction model.Furthermore,a least squares(LS)estimator is used to determine the search space of the white shark algorithm,and the optimal dynamic param-eters are obtained iteratively by the white shark algorithm.Finally,the experimental results on Franka show that the proposed method performs better than the traditional algorithm in avoiding the local optimal solution,and the pa-rameters obtained are more accurate.
dynamic modelfriction modelexcitation trajectoryidentification of parameterswhite shark optimizer(WSO)
万方数据
维普
