A New Parameter Identification Method for Industrial Robots with Friction

摘要

Commonly used intelligent algorithms that are used to identify the parameters of friction of industrial robots have poor accuracy or involve complex coding, which is not conducive to their use in engineering. This paper uses the random wandering simulated annealing-based variable-step beetle antennae search (RWSAVSBAS) algorithm to identify the parameters of friction of industrial robots. The moment of friction of the third joint of the robot is experimentally obtained and used to establish a Stribeck friction model. Following this, the RWSAVSBAS algorithm is used to identify the frictional parameters of the industrial robot. These parameters can be used to accurately predict the friction-induced torque of the robot.