External force estimation for robotic manipulator base on particle swarm optimization

Abstract

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 Jaco2 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.

Economic Operation of the Regional Integrated Energy System Based on Particle Swarm Optimization

“…Each link further adjusts its speed and position during the flight, records the approval history, and then finds the optimal solution to the work target through various repetitions; they perform it again. e update iteration of particles is completed according to equations ( 13) and (14).…”

“…(3) Generate a new solution S'. (4) Update the position of each particle according to (14) and ( 13). ( 5) When the size of the fitness floating caused by the change of particle position ΔJ < 0 or exp (-ΔJ/T) > rand (0,1), the temperature will be reduced and the speed and position updated by the new solution s' will be accepted.…”

“…In this section, the least square state estimation solution for solving the transient characteristics of the gas system by the finite difference method is used as the “benchmark solution,” which is compared with the minimum absolute value state estimation solution for solving the transient characteristics of gas system by the pipeline transfer function model proposed in this section [ 14 , 15 ]. The second-order explicit finite difference method, known as the MacCormack method, is a classical method for solving any system of nonlinear hyperbolic partial differential equations.…”

Disturbance Observer-Based Force Estimation and Fault Detection for Robotic Manipulator in Radioactive Environments

“…However, these sensors result in a significant increase in the cost of the robotic system and the complexity of the software and hardware design. Moreover, the performance of these sensors is easy to be affected by the radioactive environment (high temperature, high doses of radiation and strong disturbance) [3]. On the other hand, with the growing requirements on the safety and reliability of robotic system in radioactive environments, fault diagnosis via hardware redundancy may not be an appropriate option for robotic systems due to the radiation damage of the hardware.…”