نبذة مختصرة : The safe disposal of nuclear waste in radioactive environment urgently needs cost-effective approaches. Toward this goal, this article developed a method to external force estimation based on the identified model without force sensors. Firstly, the mathematical model including joint friction was obtained and transformed into the linear combination of unknown parameter to be estimated. Secondly, the unknown parameters were identified based on the improved particle swarm optimization algorithm, the identification procedure was implemented by optimizing the excitation trajectories to excite joint motion and sampling relevant data. Identified results were compared with the biogeography-based optimization algorithm and the cuckoo search algorithm. Then, the identified dynamic parameter was applied to external force estimation. Finally, the verification of external force estimation has been carried out using the Kinova Jaco 2 robot manipulator, and the experimental results showed that the external forces by the proposed method could be estimated with an root mean square error of 0.7 N.
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