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Journal of Robotics
Volume 2015, Article ID 471478, 9 pages
http://dx.doi.org/10.1155/2015/471478
Research Article

Dynamic Model Identification for 6-DOF Industrial Robots

1College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, No. 29, Yudao Street, Nanjing 210016, China
2College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, No. 29, Yudao Street, Nanjing 210016, China

Received 25 August 2015; Accepted 12 October 2015

Academic Editor: Keigo Watanabe

Copyright © 2015 Li Ding et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

A complete and systematic procedure for the dynamical parameters identification of industrial robot manipulator is presented. The system model of robot including joint friction model is linear with respect to the dynamical parameters. Identification experiments are carried out for a 6-degree-of-freedom (DOF) ER-16 robot. Relevant data is sampled while the robot is tracking optimal trajectories that excite the system. The artificial bee colony algorithm is introduced to estimate the unknown parameters. And we validate the dynamical model according to torque prediction accuracy. All the results are presented to demonstrate the efficiency of our proposed identification algorithm and the accuracy of the identified robot model.