Identification of Underactuated Manipulator Based On Genetic Algorithm

摘要：

This paper deals with the identification of an underactuated manipulator-Pendubot. The method of genetic algorithm can be applied for inertial parameters identification of the underactuated manipulator system after transformations. It is shown that the method is able to directly identify inertial parameters effectively. This method is more effective, when the end of the second link of the manipulator takes an unknown load. Simulations for underactuated manipulator-Pendubot system are presented.

关键词： underactuated manipulator Pendubot parameters identification genetic algorithm

作者: Wuxiao Xu Jinkun Liu

作者单位: School of Automation Science and Electrical EngineeringBeihang University (BUAA)Beijing, China School of Automation Science and Electrical Engineering Beihang University (BUAA) Beijing, China

会议类型: 国际会议

会议名称: IEEE 10th International Conference on Industrial Informatics(第十届IEEE工业信息学国际学术会议 INDIN2012)

会议地点: 北京

会议语种:英文

页码: 653-656

在线出版日期: 2012-07-25（万方平台首次上网日期，不代表论文的发表时间）