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

Table 1

Motion constraints of robot.

Parameters	Joint	Min	Max
/(^∘)	1		180
	2		60
	3		80
/(^∘⋅s^−1)	1		145
	2		105
	3		170
/(^∘⋅s^−2)	1		50
	2		40
	3		65
/(N⋅m)	1	-	1200
	2	-	1000
	3	-	600