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
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