Model identification and adaptive control design for a 6 DOFs manipulator

In this article, kinematic modeling design of a humanoid robot is presented by using Devanit-Hartenberg (D-H) model. Based on the coordinate frame, the model identification of a 6 degree-of-freedom (DOF) upper limb is investigated with Newton-Euler(NE) formula. Particle Swarm Optimization (PSO) is used to optimize the trajectory of each joint, the adequate excitation of the robot is provided and the estimated result is improved. The estimated inertia parameters are taken as the initial values of the Recursive Newton-Euler (RNE) adaptive control algorithm. Simulations are provided to verify the result of the identification algorithm.