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Dynamic Parameter Identification of UP6 Robot Manipulator using SFLA

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2018
Duc Hoang Nguyen

Duc Hoang Nguyen. Dynamic Parameter Identification of UP6 Robot Manipulator using SFLA. International Journal of Computer Applications 182(27):34-39, November 2018. BibTeX

	author = {Duc Hoang Nguyen},
	title = {Dynamic Parameter Identification of UP6 Robot Manipulator using SFLA},
	journal = {International Journal of Computer Applications},
	issue_date = {November 2018},
	volume = {182},
	number = {27},
	month = {Nov},
	year = {2018},
	issn = {0975-8887},
	pages = {34-39},
	numpages = {6},
	url = {},
	doi = {10.5120/ijca2018918115},
	publisher = {Foundation of Computer Science (FCS), NY, USA},
	address = {New York, USA}


The paper proposes a method using Shuffled Frog Leaping Algorithm (SFLA) to identify dynamic parameters of MOTOMAN UP6 robot manipulator. In this paper, the physical parameters of UP6 including mass, inertia, frictions of the first three joints will be estimated directly without parameterization. SFLA method is also used to find the optimal excitation trajectories. Simulated results verify the effectiveness of SFLA approach, and show that the proposed method achieves a high accuracy.


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Optimization, SFLA, Identification, Manipulator.