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

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jr/volume-2018/8219123/figures/8219123.fig.006a.svgz" name="8219123.fig.006a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Joint 1</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jr/volume-2018/8219123/figures/8219123.fig.006b.svgz" name="8219123.fig.006b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Joint 2</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/jr/volume-2018/8219123/figures/8219123.fig.006c.svgz" name="8219123.fig.006c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Joint 3</td></tr></table>

<div>Comparison of the measured torques and predicted torques.</div>

Journal of Robotics

fig6

Figure 6

Figure 6: Nonlinear Friction and Dynamical Identification for a Robot Manipulator with Improved Cuckoo Search Algorithm 