Dynamic parameter identification of modular robot manipulators based on hybrid optimization strategy: genetic algorithm and least squares method

Lu, Zengpeng; Wei, Chengyu; Ni, Daiwei; Bi, Jiabin; Wang, Qingyun; Li, Yan

doi:10.1007/s00500-024-09846-1

Soft Comput

2024

DOI: 10.1007/s00500-024-09846-1

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Dynamic parameter identification of modular robot manipulators based on hybrid optimization strategy: genetic algorithm and least squares method

Zengpeng Lu,

Chengyu Wei,

Daiwei Ni

et al.

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Application of Genetic Algorithms for Strejc Model Parameter Tuning

Ostaszewicz,

Rogowski

2024

Electronics

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In this paper, genetic algorithms are applied to fine-tune the parameters of a system model characterized by unknown transfer functions utilizing the Strejc method. In this method, the high-order plant dynamic is approximated by the reduced-order multiple inertial transfer function. The primary objective of this research is to optimize the parameter values of the Strejc model using genetic algorithms to obtain the optimal value of the integral quality indicator for the model and step responses which fit the plant response. In the analysis, various structures of transfer functions will be considered. For fifth-order plants, different structures of a transfer function will be employed: second-order inertia and multiple-inertial models of different orders. The genotype structure is composed in such a way as to ensure the convergence of the method. A numerical example demonstrating the utility of the method of high-order plants is presented.

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Application of Genetic Algorithms for Strejc Model Parameter Tuning

Ostaszewicz,

Rogowski

2024

Electronics

View full text Add to dashboard Cite

show abstract

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Dynamic parameter identification of modular robot manipulators based on hybrid optimization strategy: genetic algorithm and least squares method

Cited by 1 publication

References 42 publications

Application of Genetic Algorithms for Strejc Model Parameter Tuning

Application of Genetic Algorithms for Strejc Model Parameter Tuning

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