A genetic algorithms approach to model parameter estimation of a robot joint with torque sensing

被引：0

作者：

Adamson, M. ^{[1
]}

Liu, G. ^{[1
]}

机构：

[1] Ryerson Univ, Dept Aerosp Engn, 350 Victoria St, Toronto, ON M5B 2KB, Canada

来源：

WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS | 2006年

关键词：

genetic algorithms; friction; joint torque sensor; decomposition based control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A genetic algorithms approach is proposed to identify model parameters for a robotic joint with a torque sensor. The joint torque sensor measurement is used in the implementation of this identification technique. A real coded genetic algorithm is introduced to estimate friction and torque sensor model parameters. Simulation results have demonstrated the effectiveness of the proposed identification technique.

引用

页码：4808 / +

页数：2

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