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Dynamic Model and Inverse Kinematic Identification of a 3-DOF Manipulator Using RLSPSO
This paper presents the identification of the inverse kinematics of a cylindrical manipulator using identification techniques of Least Squares (LS), Recursive Least Square (RLS), and a dynamic parameter identification algorithm based on Particle Swarm Optimization (PSO) with search space defined by...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7013729/ https://www.ncbi.nlm.nih.gov/pubmed/31940799 http://dx.doi.org/10.3390/s20020416 |
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author | Batista, Josias Souza, Darielson dos Reis, Laurinda Barbosa, Antônio Araújo, Rui |
author_facet | Batista, Josias Souza, Darielson dos Reis, Laurinda Barbosa, Antônio Araújo, Rui |
author_sort | Batista, Josias |
collection | PubMed |
description | This paper presents the identification of the inverse kinematics of a cylindrical manipulator using identification techniques of Least Squares (LS), Recursive Least Square (RLS), and a dynamic parameter identification algorithm based on Particle Swarm Optimization (PSO) with search space defined by RLS (RLSPSO). A helical trajectory in the cartesian space is used as input. The dynamic model is found through the Lagrange equation and the motion equations, which are used to calculate the torque values of each joint. The torques are calculated from the values of the inverse kinematics, identified by each algorithm and from the manipulator joint speeds and accelerations. The results obtained for the trajectories, speeds, accelerations, and torques of each joint are compared for each algorithm. The computational costs as well as the Multi-Correlation Coefficient ([Formula: see text]) are computed. The results demonstrated that the identification accuracy of RLSPSO is better than that of LS and PSO. This paper brings an improvement in RLS because it is a method with high complexity, so the proposed method (hybrid) aims to improve the computational cost and the results of the classic RLS. |
format | Online Article Text |
id | pubmed-7013729 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-70137292020-03-09 Dynamic Model and Inverse Kinematic Identification of a 3-DOF Manipulator Using RLSPSO Batista, Josias Souza, Darielson dos Reis, Laurinda Barbosa, Antônio Araújo, Rui Sensors (Basel) Article This paper presents the identification of the inverse kinematics of a cylindrical manipulator using identification techniques of Least Squares (LS), Recursive Least Square (RLS), and a dynamic parameter identification algorithm based on Particle Swarm Optimization (PSO) with search space defined by RLS (RLSPSO). A helical trajectory in the cartesian space is used as input. The dynamic model is found through the Lagrange equation and the motion equations, which are used to calculate the torque values of each joint. The torques are calculated from the values of the inverse kinematics, identified by each algorithm and from the manipulator joint speeds and accelerations. The results obtained for the trajectories, speeds, accelerations, and torques of each joint are compared for each algorithm. The computational costs as well as the Multi-Correlation Coefficient ([Formula: see text]) are computed. The results demonstrated that the identification accuracy of RLSPSO is better than that of LS and PSO. This paper brings an improvement in RLS because it is a method with high complexity, so the proposed method (hybrid) aims to improve the computational cost and the results of the classic RLS. MDPI 2020-01-11 /pmc/articles/PMC7013729/ /pubmed/31940799 http://dx.doi.org/10.3390/s20020416 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Batista, Josias Souza, Darielson dos Reis, Laurinda Barbosa, Antônio Araújo, Rui Dynamic Model and Inverse Kinematic Identification of a 3-DOF Manipulator Using RLSPSO |
title | Dynamic Model and Inverse Kinematic Identification of a 3-DOF Manipulator Using RLSPSO |
title_full | Dynamic Model and Inverse Kinematic Identification of a 3-DOF Manipulator Using RLSPSO |
title_fullStr | Dynamic Model and Inverse Kinematic Identification of a 3-DOF Manipulator Using RLSPSO |
title_full_unstemmed | Dynamic Model and Inverse Kinematic Identification of a 3-DOF Manipulator Using RLSPSO |
title_short | Dynamic Model and Inverse Kinematic Identification of a 3-DOF Manipulator Using RLSPSO |
title_sort | dynamic model and inverse kinematic identification of a 3-dof manipulator using rlspso |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7013729/ https://www.ncbi.nlm.nih.gov/pubmed/31940799 http://dx.doi.org/10.3390/s20020416 |
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