Dynamic modeling and parameter estimation of a hydraulic robot manipulator using a multi-objective genetic algorithm
- Submitting institution
-
The University of Lancaster
- Unit of assessment
- 12 - Engineering
- Output identifier
- 238243969
- Type
- D - Journal article
- DOI
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10.1080/00207179.2016.1230231
- Title of journal
- International Journal of Control
- Article number
- -
- First page
- 661
- Volume
- 90
- Issue
- 4
- ISSN
- 0020-7179
- Open access status
- Compliant
- Month of publication
- August
- Year of publication
- 2016
- URL
-
-
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- Yes
- Number of additional authors
-
3
- Research group(s)
-
-
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- This work concerns the dynamic modelling of a complex electro mechanical system and represents a step change by addressing a non-linear and non-convex optimization problem, with results validated using experimental data. Funded by the NDA (NNL/UA/004), who are interested in using such algorithms within their growing robotics fleet, this work led to an invite into a consortium which was awarded the EPSRC National Centre for Nuclear Robotics (EP/R02572X/1, £11.6M). The technique can also be applied within non-robotic areas having been cited in work related to organ inflammation (Chui, 2019), spacecraft instrumentation (Mu, 2018) and grain flow (Wang, 2018).
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -
