Identification Method of Friction Force Parameter in Robot Force-free Control Based on OBL-SAMPSO Algorithm
An improved simulated annealing optimization algorithm(OBL-SAMPSO algorithm)based on reverse learning strategy is proposed for parameter identification of LuGre friction model in robot force-free control.The simulation results show that compared with the traditional PSO algorithm,the OBL-SAMPSO algorithm reduces the absolute error of parameter identification by 85.86%on average.LuGre friction identification is carried out based on the single joint experimental platform,and applied to the joint force-free control strategy.The towing operation with good compliance is realized.
万方数据
维普
