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A genetic algorithm approach for parameter optimization of a 7DOF robotic manipulator

Research output: Contribution to conference - Without ISBN/ISSN Conference paper

Published
Publication date28/06/2016
<mark>Original language</mark>English
Event8th IFAC Conference on Manufacturing Modelling, Management and Control - Troyes, France
Duration: 28/06/2016 → …

Conference

Conference8th IFAC Conference on Manufacturing Modelling, Management and Control
CountryFrance
CityTroyes
Period28/06/16 → …

Abstract

In this paper the problem of dynamic modeling and parameter estimation of a seven degree of freedom hydraulic manipulator is investigated. The numerical model is developed in Simulink using SimMechanic and Simscape toolboxes with unknown/uncertain parameters. The aim of this paper is to develop a mechanism that enables us to find a feasible set of parameters for the robot that is consistent with measurements of the input, output, and states of the system under noisy and unknown operating conditions. As the first step a genetic algorithm is developed to solve an output error system identification problem for a specific joint, i.e. joint 2, such that the parameters of the joint converge to the desired set of parameters within an acceptable accuracy. The results can be straightforwardly extended to all joints of the manipulator