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Dynamic Parameter Identification of UP6 Robot Manipulator using SFLA

by Duc Hoang Nguyen
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 182 - Number 27
Year of Publication: 2018
Authors: Duc Hoang Nguyen

Duc Hoang Nguyen . Dynamic Parameter Identification of UP6 Robot Manipulator using SFLA. International Journal of Computer Applications. 182, 27 ( Nov 2018), 34-39. DOI=10.5120/ijca2018918115

@article{ 10.5120/ijca2018918115,
author = { Duc Hoang Nguyen },
title = { Dynamic Parameter Identification of UP6 Robot Manipulator using SFLA },
journal = { International Journal of Computer Applications },
issue_date = { Nov 2018 },
volume = { 182 },
number = { 27 },
month = { Nov },
year = { 2018 },
issn = { 0975-8887 },
pages = { 34-39 },
numpages = {9},
url = { },
doi = { 10.5120/ijca2018918115 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
%0 Journal Article
%1 2024-02-07T01:12:39.393564+05:30
%A Duc Hoang Nguyen
%T Dynamic Parameter Identification of UP6 Robot Manipulator using SFLA
%J International Journal of Computer Applications
%@ 0975-8887
%V 182
%N 27
%P 34-39
%D 2018
%I Foundation of Computer Science (FCS), NY, USA

The paper proposes a method using Shuffled Frog Leaping Algorithm (SFLA) to identify dynamic parameters of MOTOMAN UP6 robot manipulator. In this paper, the physical parameters of UP6 including mass, inertia, frictions of the first three joints will be estimated directly without parameterization. SFLA method is also used to find the optimal excitation trajectories. Simulated results verify the effectiveness of SFLA approach, and show that the proposed method achieves a high accuracy.

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Index Terms

Computer Science
Information Sciences


Optimization SFLA Identification Manipulator.