Dynamic modeling and parameter estimation of a hydraulic robot manipulator using a multi-objective genetic algorithm

Montazeri, Allahyar and West, Craig and Monk, Stephen David and Taylor, Charles James (2017) Dynamic modeling and parameter estimation of a hydraulic robot manipulator using a multi-objective genetic algorithm. International Journal of Control, 90 (4). pp. 661-683. ISSN 0020-7179

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Abstract

This article concerns the problem of dynamic modeling and parameter estimation for a seven degree of freedom hydraulic manipulator. The laboratory example is a dual-manipulator mobile robotic platform used for research into nuclear decommissioning. In contrast to earlier control model orientated research using the same machine, the article develops a nonlinear, mechanistic simulation model that can subsequently be used to investigate physically meaningful disturbances. The second contribution is to optimize the parameters of the new model, i.e. to determine reliable estimates of the physical parameters of a complex robotic arm which are not known in advance. To address the nonlinear and non-convex nature of the problem, the research relies on the multi-objectivization of an output error single performance index. The developed algorithm utilises a multi-objective Genetic Algorithm (GA) in order to find a proper solution. The performance of the model and the GA is evaluated using both simulated (i.e. with a known set of ‘true’ parameters) and experimental data. Both simulation and experimental results show that multi-objectivization has improved convergence of the estimated parameters compared to the single objective output error problem formulation. This is achieved by integrating the validation phase inside the algorithm implicitly and exploiting the inherent structure of the multi-objective GA for this specific system identification problem.

Item Type:
Journal Article
Journal or Publication Title:
International Journal of Control
Additional Information:
Published in Special issue on Identification and Control of Nonlinear Electro-Mechanical Systems International Journal of Control, 90:4, 641-642, http://dx.doi.org/10.1080/00207179.2017.1294824
Uncontrolled Keywords:
/dk/atira/pure/subjectarea/asjc/1700/1706
Subjects:
ID Code:
81492
Deposited By:
Deposited On:
16 Sep 2016 14:12
Refereed?:
Yes
Published?:
Published
Last Modified:
29 Nov 2020 03:55