Calibration of a Steward parallel robot using genetic algorithm

被引：12
|
作者：
Liu, Yu [1 ]
Liang, Bin [1 ]
Li, Cheng [1 ]
Xue, Lijun [1 ]
Hu, Songhua [1 ]
Jiang, Yanshu [2 ]
机构：
[1] Harbin Inst Technol, Dept Control Sci & Engn, Harbin, Heilongjiang, Peoples R China
[2] Harbin Univ Sci & Technol, Dept Automat, Harbin, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | 2007年
关键词：
calibration; parallel robot; pose accuracy; genetic algorithm; measurement noises;
D O I：
10.1109/ICMA.2007.4303948
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper presents a new calibration method of the parallel robot using genetic algorithm (GA) which has the powerful global adaptive probabilistic search ability. In the process of the calibration, calculation of measurement residuals through inverse kinematics is adopted, which greatly reduces calculation burden and saves operation time. At last, in the form of simulation and experiment, considering the influence of measurement noise the steward parallel robot is respectively calibrated and its pose (position and orientation) accuracy has a significant improvement.
引用
收藏
页码：2495 / 2500
页数：6
相关论文
共 50 条
  • [1] Robot kinematic calibration accuracy using genetic algorithm
    Samak, S
    PROCEEDINGS OF IMAC-XIX: A CONFERENCE ON STRUCTURAL DYNAMICS, VOLS 1 AND 2, 2001, 4359 : 1506 - 1510
  • [2] Parallel Robot Vision Using Genetic Algorithm and Object Centroid
    Kale, Anup
    Chaczko, Zenon
    Rudas, Imre
    COMPUTER AIDED SYSTEMS THEORY - EUROCAST 2011, PT II, 2012, 6928 : 170 - 178
  • [3] CALIBRATION OF A 6-DOF SPACE ROBOT USING GENETIC ALGORITHM
    LIU Yu College of Science and Technology
    Chinese Journal of Mechanical Engineering, 2008, 21 (06) : 6 - 13
  • [4] CALIBRATION OF A 6-DOF SPACE ROBOT USING GENETIC ALGORITHM
    Liu Yu
    Jiang Yanshu
    Liang Bin
    Xu Wenfu
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2008, 21 (06) : 6 - 13
  • [5] Multi robot distance based formation using Parallel Genetic Algorithm
    Lopez-Gonzalez, A.
    Meda Campana, J. A.
    Hernandez Martinez, E. G.
    Paniagua Contro, P.
    APPLIED SOFT COMPUTING, 2020, 86 (86)
  • [6] Optimum design of a parallel robot using neuro-genetic algorithm
    Garcia Lopez, Erick
    Yu, Wen
    Li, Xiaoou
    JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2021, 35 (01) : 293 - 305
  • [7] Optimum design of a parallel robot using neuro-genetic algorithm
    Erick García López
    Wen Yu
    Xiaoou Li
    Journal of Mechanical Science and Technology, 2021, 35 : 293 - 305
  • [8] Optimal Design of a Parallel Robot Using Neural Network and Genetic Algorithm
    Lopez, Erick Garcia
    Yu, Wen
    Li, Xiaoou
    2019 TENTH INTERNATIONAL CONFERENCE ON INTELLIGENT CONTROL AND INFORMATION PROCESSING (ICICIP), 2019, : 64 - 69
  • [9] Robot calibration using genetic programming
    Dolinsky, JU
    Colquhoun, G
    Jenkinson, I
    E-MANUFACTURING: BUSINESS PARADIGMS AND SUPPORTING TECHNOLOGIES, 2004, : 113 - 119
  • [10] Workspace optimization of parallel robot by using multi-objective genetic algorithm
    王进洪
    LEI Jingtao
    HighTechnologyLetters, 2022, 28 (04) : 411 - 417
12345