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
  • [41] Genetic Algorithm Based Dynamics Modeling and Control of a Parallel Rehabilitation Robot
    Wang, Chen
    Peng, Liang
    Luo, Lincong
    Hou, Zeng-Guang
    Wang, Weiqun
    2018 IEEE CONGRESS ON EVOLUTIONARY COMPUTATION (CEC), 2018, : 1887 - 1893
  • [42] Identification of geometric parameters of a parallel robot by using a camera calibration technique
    Arredondo-Soto, Mauricio
    Garcia-Murillo, Mario A.
    Cervantes-Sanchez, J. Jesus
    Torres, Felipe J.
    Moreno-Avalos, Hector A.
    JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2021, 35 (02) : 729 - 737
  • [43] Multiprocessor scheduling using parallel genetic algorithm
    Al-Angari, Nourah
    ALAbdullatif, Abdullatif
    Al-Angari, N., 1600, International Journal of Computer Science Issues (IJCSI) (09): : 4 - 3
  • [44] Identification of geometric parameters of a parallel robot by using a camera calibration technique
    Mauricio Arredondo-Soto
    Mario A. García-Murillo
    J. Jesús Cervantes-Sánchez
    Felipe J. Torres
    Hector A. Moreno-Avalos
    Journal of Mechanical Science and Technology, 2021, 35 : 729 - 737
  • [45] Binary classification using parallel genetic algorithm
    To, Cuong
    Vohradsky, Jiri
    2007 IEEE CONGRESS ON EVOLUTIONARY COMPUTATION, VOLS 1-10, PROCEEDINGS, 2007, : 1281 - 1287
  • [46] Multidimensional scaling using parallel genetic algorithm
    Varoneckas, A.
    Zilinskas, A.
    Zilinskas, J.
    COMPUTER AIDED METHODS IN OPTIMAL DESIGN AND OPERATIONS, 2006, 7 : 129 - +
  • [47] KINEMATIC CALIBRATION OF THE HEXAGLIDE PARALLEL ROBOT USING A SIMPLE MEASUREMENT SYSTEM
    Abtahi, Mansour
    Pendar, Hodjat
    Alasty, Aria
    Vossoughi, Gholamreza
    IMECE 2008: MECHANICAL SYSTEMS AND CONTROL, VOL 11, 2009, : 853 - 859
  • [48] Robot stereo vision calibration method with genetic algorithm and particle swarm optimization
    汪首坤
    李德龙
    郭俊杰
    王军政
    Journal of Beijing Institute of Technology, 2013, 22 (02) : 213 - 221
  • [49] Calibration of FRESIM for Singapore Expressway using genetic algorithm
    Cheu, RL
    Jin, X
    Ng, KC
    Ng, YL
    Srinivasan, D
    JOURNAL OF TRANSPORTATION ENGINEERING-ASCE, 1998, 124 (06): : 526 - 535
  • [50] Calibration of VISSIM for Shanghai expressway using genetic algorithm
    Wu, ZZ
    Sun, J
    Yang, XG
    Proceedings of the 2005 Winter Simulation Conference, Vols 1-4, 2005, : 2645 - 2648
12345