DocumentCode
569702
Title
Identification of underactuated manipulator based on genetic algorithm
Author
Xu, Wuxiao ; Liu, Jinkun
Author_Institution
Sch. of Autom. Sci. & Electr. Eng., Beihang Univ. (BUAA), Beijing, China
fYear
2012
fDate
25-27 July 2012
Firstpage
653
Lastpage
656
Abstract
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.
Keywords
genetic algorithms; identification; manipulators; Pendubot; genetic algorithm; inertial parameters identification; underactuated manipulator; Genetic algorithms; Joints; Manipulator dynamics; Parameter estimation; Pollution measurement; Pendubot; genetic algorithm; parameters identification; underactuated manipulator;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Informatics (INDIN), 2012 10th IEEE International Conference on
Conference_Location
Beijing
Print_ISBN
978-1-4673-0312-5
Type
conf
DOI
10.1109/INDIN.2012.6301233
Filename
6301233
Link To Document