Title :
A Genetic Algorithms Approach to Model Parameter Estimation of a Robot Joint with Torque Sensing
Author :
Adamson, M. ; Liu, G.
Author_Institution :
Dept. of Aerosp. Eng., Ryerson Univ., Toronto, Ont.
Abstract :
A genetic algorithms approach is proposed to identify model parameters for a robotic joint with a torque sensor. The joint torque sensor measurement is used in the implementation of this identification technique. A real coded genetic algorithm is introduced to estimate friction and torque sensor model parameters. Simulation results have demonstrated the effectiveness of the proposed identification technique
Keywords :
genetic algorithms; parameter estimation; robots; sensors; torque measurement; decomposition based control; friction estimation; genetic algorithm; model parameter identification; robot; torque sensor measurement; torque sensor model parameter estimation; Adaptive control; Friction; Genetic algorithms; Parameter estimation; Programmable control; Robot control; Robot sensing systems; Robust control; Torque control; Torque measurement; Genetic algorithms; decomposition based control; friction; joint torque sensor;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713297
