关键词: 串联机器人, 参数辨识, 候鸟优化算法

Abstract: Aiming at the parameter identification of six-degree-of-freedom tandem robots, a dynamic parameter iden-tification method based on weighted least squares and migrating birds optimization(WLS-MBO) is proposed. Firstly, based on the dynamics principle of the robot, a linearized dynamic equation considering the Coulomb viscous friction parameters is obtained. The fifth-order Fourier series is used as the identification excitation trajectory, the robot controller drives the joints to track the excitation trajectory and collects the joint position and torque data during the robot movement, and the initial solution of the dynamic parameters is obtained by the weighted least square (WLS) method. Based on the results of the WLS method, the migrating birds optimization (MBO) is used for secondary optimization to improve the identification accuracy of parameters. The analysis of the results shows that the identification method has a good identification effect and can further improve the identification accuracy, and it verifies that the MBO has better global search ability.

Key words: tandem robot, parameter identification, migrating birds optimization algorithm