Optimization Study of Excitation Trajectories for Dynamic Parameter Identification
Yang Zhonghua
Yu Jinghu
Yu Zhe
Zhou Jiaquan
Abstract：In addressing the issue of identifying dynamic parameters for robotic arms,a trajectory optimi-zation method was proposed using an improved snake optimization algorithm.This method was innovatively built upon the conventional snake optimization algorithm by introducing adaptive adjustment operators in place of fixed coefficients.This adaptation enhanced the global search capability and convergence speed of the snake op-timization algorithm.The improved snake optimization algorithm was applied to the optimization design of excita-tion trajectories in the process of robotic arm dynamic parameter identification.The iterative reweighted least squares algorithm was employed as the parameter identification technique.In the experimental validation phase,a six-degree-of-freedom collaborative robot was chosen as the verification subject.The results demonstrate that,in comparison to conventional excitation trajectory design algorithms,the root mean square deviation of joint torques for the first three joints of the robotic arm decreases by 20.96%,while the root mean square devia-tion of joint torques for all six joints decreases by 23.58%.This verifies the effectiveness of applying the im-proved snake optimization algorithm to excitation trajectory optimization design,leading to enhanced accuracy in the dynamic parameter identification.
Keywords：Collaborative robotDynamic modelImproved snake optimization algorithmAdaptive operatorParameter identification
Publication Date：2024-11-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：11( 37-47 )