Short Paper: Identification by Recursive Least Squares with RMO Applied to a Robotic Manipulator

Short Paper: Identification by Recursive Least Squares with RMO Applied to a Robotic Manipulator

The present work presents a hybrid identification of recursive least squares with a metaheuristic called radial movement optimization (RMO) applied to the joints of a cylindrical robotic manipulator. The main contribution of the research is to consider the covariance matrix with RMO. At the end a co...

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Bibliographic Details
Published in:2019 Second International Conference on Artificial Intelligence for Industries (AI4I) pp. 95 - 96
Main Authors: Souza, Darielson, Batista, Josias, dos Reis, Laurinda, Santana, Killdary, Junior, Jose R., Junior, Jose N., Junior, Antonio B., Araujo, Rui
Format: Conference Proceeding
Language:English
Published: IEEE 01-09-2019
Subjects:
Covariance matrices
Industries
Kalman filters
Manipulators
Mechanical system
Optimization
Robotic arm
Service robots
Systems identification
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Summary:The present work presents a hybrid identification of recursive least squares with a metaheuristic called radial movement optimization (RMO) applied to the joints of a cylindrical robotic manipulator. The main contribution of the research is to consider the covariance matrix with RMO. At the end a comparative analysis will be made with some classic methods. The results of the identifications were tested with the RMSE. A covariance matrix has also been generated from manipulator identifications.
DOI:10.1109/AI4I46381.2019.00031