Final published version
Research output: Contribution to Journal/Magazine › Journal article › peer-review
Research output: Contribution to Journal/Magazine › Journal article › peer-review
}
TY - JOUR
T1 - A genetic algorithm approach for parameter optimization of a 7DOF robotic manipulator
AU - West, Craig
AU - Montazeri, Allahyar
AU - Monk, Stephen David
AU - Taylor, Charles James
PY - 2016
Y1 - 2016
N2 - 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 Sim Mechanic 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.
AB - 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 Sim Mechanic 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.
KW - Parameter estimation
KW - System identification
KW - Nonlinear model
KW - Genetic algorithm
KW - Mathematical modeling
U2 - 10.1016/j.ifacol.2016.07.688
DO - 10.1016/j.ifacol.2016.07.688
M3 - Journal article
VL - 49
SP - 1261
EP - 1266
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
IS - 12
T2 - 8th IFAC Conference on Manufacturing Modelling, Management and Control
Y2 - 28 June 2016
ER -