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Journal of Robotics
Volume 2018, Article ID 8219123, 10 pages
Research Article

Nonlinear Friction and Dynamical Identification for a Robot Manipulator with Improved Cuckoo Search Algorithm

1College of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213001, China
2Department of Industrial and System Engineering, The Hong Kong Polytechnic University, Kowloon 999077, Hong Kong

Correspondence should be addressed to Li Ding; moc.361@ildaaun

Received 17 September 2017; Accepted 28 November 2017; Published 8 January 2018

Academic Editor: Yangmin Li

Copyright © 2018 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.


This paper concerns the problem of dynamical identification for an industrial robot manipulator and presents an identification procedure based on an improved cuckoo search algorithm. Firstly, a dynamical model of a 6-DOF industrial serial robot has been derived. And a nonlinear friction model is added to describe the friction characteristic at motion reversal. Secondly, we use a cuckoo search algorithm to identify the unknown parameters. To enhance the performance of the original algorithm, both chaotic operator and emotion operator are employed to help the algorithm jump out of local optimum. Then, the proposed algorithm has been implemented on the first three joints of the ER-16 robot manipulator through an identification experiment. The results show that (1) the proposed algorithm has higher identification accuracy over the cuckoo search algorithm or particle swarm optimization algorithm and (2) compared to linear friction model the nonlinear model can describe the friction characteristic of joints better.