Identification of underactuated manipulator based on genetic algorithm

This paper deals with the identification of an underactuated manipulator-Pendubot. The method of genetic algorithm can be applied for inertial parameters identification of the underactuated manipulator system after transformations. It is shown that the method is able to directly identify inertial parameters effectively. This method is more effective, when the end of the second link of the manipulator takes an unknown load. Simulations for underactuated manipulator-Pendubot system are presented.