Dynamic parameter identification of three-link acrobot on horizontal bar
3关节单杠体操机器人的动力学参数辨识

In modeling the three-link acrobot on horizontal bar using Lagrange equations,the accuracy of dynamicparameters plays an important role in the realization of a real-time control.In this paper,an improved genetic algorithm(IGA) is proposed for parameter identification.The IGA introduces some new operators such as hybrid encoding,variable-precision crossover,integration ideas of orthogonal experiment design,Hamming distance,dynamic encoding and large-size mutation with feedback.In addition,a novel fitness function is used to evaluate the solutions.Therefore,the IGAcan be more robust,statistically rational,and easier in obtaining the solutions.Finally,by comparison of data betweenfree response and numerical simulation of each joint,the IGA is shown to be effective in the determination of dynamicparameters of three-link acrobot on horizontal bar.