Application of ISSA Algorithm in Dynamic Parameter Identification of Refueling Robots
A multi-strategy improved sparrow search algorithm(ISSA)is proposed to improve the accuracy of kinetic parameter identification for a refueling robot.The improved method includes initialising the population with an improved logistic mapping to enhance population diversity,dynamically adjusting the scaling factor to optimise the number of discoverers and followers,adding a perturbation factor based on the current number of iterations to the discoverer position update formula and introducing a new perturbation strategy based on the Cauchy variation and Tent perturbation to maintain population diversity and prevent the algorithm from falling into a local optimum.The improved sparrow search algorithm shows superior performance in the kinetic parameter identification of the refueling robot,which provides effective support for the motion control and adaptive capability of the refueling robot,as verified by the QFB100 collaborative arm parameter identification experiments.
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