Improvement of Positioning Accuracy of Robot Accuracy Based on Improved Golden Jackal Optimization
In order to improve the positioning accuracy of industrial robots and improve their ability to meet job requirements,a new method based onimproved golden jackal optimization algorithm(IGJO)is proposed.Firstly,the kinematic parameter identification error model and the objective function are established based on MDH model.Secondly,aiming at the shortcomings of the golden jackal optimization algorithm(GJO),the IGJO algorithm is proposed by introducing the Cauchy mutation strategy,and the steps of using IGJO for parameter variables are given.Finally,IGJO is used to identify the kinematic parameters of a RB1200-5-0.9 robot.The results show that IGJO can quickly identify the kinematic parameters of the robot,and the absolute positioning accuracy is significant improved compared with before identification and GJO,which has certain advantages.
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