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Communication

A New Parameter Identification Method for Industrial Robots with Friction

by
Bin Kou
1,2,
Yao Huang
3,
Pengpeng Wang
1,2,
Dongcheng Ren
1,2,
Jie Zhang
3 and
Shijie Guo
1,2,*
1
Academy for Enigineering and Technology, Fudan University, Shanghai 200433, China
2
Guanghua Lingang Engineering Application and Technology R & D (Shanghai) Co., Ltd., Shanghai 201306, China
3
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China
*
Author to whom correspondence should be addressed.
Machines 2022, 10(5), 349; https://doi.org/10.3390/machines10050349
Submission received: 11 March 2022 / Revised: 2 May 2022 / Accepted: 5 May 2022 / Published: 9 May 2022
(This article belongs to the Special Issue Advanced Control Theory with Applications in Intelligent Machines)
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Abstract

Commonly used intelligent algorithms that are used to identify the parameters of friction of industrial robots have poor accuracy or involve complex coding, which is not conducive to their use in engineering. This paper uses the random wandering simulated annealing-based variable-step beetle antennae search (RWSAVSBAS) algorithm to identify the parameters of friction of industrial robots. The moment of friction of the third joint of the robot is experimentally obtained and used to establish a Stribeck friction model. Following this, the RWSAVSBAS algorithm is used to identify the frictional parameters of the industrial robot. These parameters can be used to accurately predict the friction-induced torque of the robot.
Keywords: industrial robot; friction force; random wandering simulated annealing variable step beetle antennae search algorithm; beetle antennae search algorithm industrial robot; friction force; random wandering simulated annealing variable step beetle antennae search algorithm; beetle antennae search algorithm

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MDPI and ACS Style

Kou, B.; Huang, Y.; Wang, P.; Ren, D.; Zhang, J.; Guo, S. A New Parameter Identification Method for Industrial Robots with Friction. Machines 2022, 10, 349. https://doi.org/10.3390/machines10050349

AMA Style

Kou B, Huang Y, Wang P, Ren D, Zhang J, Guo S. A New Parameter Identification Method for Industrial Robots with Friction. Machines. 2022; 10(5):349. https://doi.org/10.3390/machines10050349

Chicago/Turabian Style

Kou, Bin, Yao Huang, Pengpeng Wang, Dongcheng Ren, Jie Zhang, and Shijie Guo. 2022. "A New Parameter Identification Method for Industrial Robots with Friction" Machines 10, no. 5: 349. https://doi.org/10.3390/machines10050349

APA Style

Kou, B., Huang, Y., Wang, P., Ren, D., Zhang, J., & Guo, S. (2022). A New Parameter Identification Method for Industrial Robots with Friction. Machines, 10(5), 349. https://doi.org/10.3390/machines10050349

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