Research Article
Nonlinear Friction and Dynamical Identification for a Robot Manipulator with Improved Cuckoo Search Algorithm
Table 3
Dynamical parameters of ER-16.
| | Parameter | Value |
| | (kg⋅m2) | 51.3846 | | (kg⋅m2) | | | (kg⋅m2) | 1.1452 | | (kg⋅m2) | | | (kg⋅m2) | 0.4574 | | (kg⋅m2) | 44.5863 | | (kg⋅m) | 32.1287 | | (kg⋅m) | 5.4040 | | (kg⋅m2) | 3.1263 | | (kg⋅m2) | 1.9361 | | (kg⋅m2) | 0.4849 | | (kg⋅m2) | 0.6900 | | (kg⋅m2) | 11.7725 | | (kg⋅m) | 5.1317 | | (kg⋅m) | 10.3145 | | (N⋅m) | 0.7044 | | (N⋅m) | 3.9877 | | (Nm⋅s/rad) | 8.0000 | | (N⋅m) | 32.3929 | | 6.9975 | | (N⋅m) | 53.2922 | | (N⋅m) | | | (Nm⋅s/rad) | | | (N⋅m) | 70.0243 | | 19.7363 | | (N⋅m) | | | (N⋅m) | 30.6465 | | (Nm⋅s/rad) | 4.3297 | | (N⋅m) | | | 5.0000 |
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