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A Genetic Algorithms Approach to Model Parameter Estimation of a Robot Joint with Torque Sensing

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2 Author(s)
Adamson, M. ; Dept. of Aerosp. Eng., Ryerson Univ., Toronto, Ont. ; Liu, G.

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

Published in:

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on  (Volume:1 )

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