Dynamic parameter identification of upper-limb rehabilitation robot system based on variable parameter particle swarm optimisation

Dynamic parameter identification of upper-limb rehabilitation robot system based on variable parameter particle swarm optimisation

To solve the problem of uncertain parameters in dynamic modelling of upper-limb rehabilitation robots, a dynamic parameter identification method based on variable parameters particle swarm optimisation (PSO) is developed. Based on the dynamic model of the system, the algorithm changes the inertia pa...

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Bibliographic Details
Main Authors: Jin Lei Wang, Yafeng Li, Aimin An
Format: Article
Language:English
Published: Wiley 2020-09-01
Series:IET Cyber-systems and Robotics
Subjects:
parameter estimation
medical robotics
patient rehabilitation
particle swarm optimisation
upper-limb rehabilitation robot system
variable parameter particle swarm optimisation
uncertain parameters
dynamic modelling
upper-limb rehabilitation robots
dynamic parameter identification method
variable parameters particle swarm optimisation
dynamic model
algorithm changes
inertia parameter
learning law
basic pso algorithm
fixed-parameter
identification accuracy
Online Access:https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2020.0023

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https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2020.0023

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