The kinematic error model of a 6-DOF space robot is deduced, and the cost function of kinematic parameter identification is built. With the aid of the genetic algorithm （GA） that has the powerful global adaptive pro...The kinematic error model of a 6-DOF space robot is deduced, and the cost function of kinematic parameter identification is built. With the aid of the genetic algorithm （GA） that has the powerful global adaptive probabilistic search ability, 24 parameters of the robot are identified through simulation, which makes the pose （position and orientation） accuracy of the robot a great improvement. In the process of the calibration, stochastic measurement noises are considered. Lastly, generalization of the identified kinematic parameters in the whole workspace of the robot is discussed. The simulation results show that calibrating the robot with GA is very stable and not sensitive to measurement noise. Moreover, even if the robot＇s kinematic parameters are relative, GA still has strong search ability to find the optimum solution.展开更多
Aiming at the part quality and building time problems in stereolithography （SL） caused by unreasonable building orientation, a part building orientation decision method in SL rapid prototyping （RP） is carried out....Aiming at the part quality and building time problems in stereolithography （SL） caused by unreasonable building orientation, a part building orientation decision method in SL rapid prototyping （RP） is carried out. Bringing into full consideration of the deformation, stair-stepping effect, overcure effect and building time related to the part fabrication orientation, and using evaluation function method, a multi-objective optimization model for the building orientation is defined. According to the difference in the angles between normal vectors of triangular facets in standard triangulation language （STL） model and z axis, the expressions of deformation area, stair-stepping area, overcure area are established. According to the characteristics in SL process, part building time is divided into four sections, that is, hatching scanning time, outline scanning time, support building time and layer waiting time. Expressions of each building time section are given. Considering the features of this optimization model, genetic algorithm （GA） is used to derive the optimization objective, related software is developed and optimization results are tested through experiments. Application shows that this method can effectively solve the quality and efficiency troubles caused by unreasonable part building orientation, an automatic orientation-determining program is developed and verified through test.展开更多
基金supported by National Natural Science Foundation of China(No.60775049).
文摘The kinematic error model of a 6-DOF space robot is deduced, and the cost function of kinematic parameter identification is built. With the aid of the genetic algorithm （GA） that has the powerful global adaptive probabilistic search ability, 24 parameters of the robot are identified through simulation, which makes the pose （position and orientation） accuracy of the robot a great improvement. In the process of the calibration, stochastic measurement noises are considered. Lastly, generalization of the identified kinematic parameters in the whole workspace of the robot is discussed. The simulation results show that calibrating the robot with GA is very stable and not sensitive to measurement noise. Moreover, even if the robot＇s kinematic parameters are relative, GA still has strong search ability to find the optimum solution.
基金This project is supported by National Hi-tech Research and Development Program of China(863 Program, No.2005AA414020).
文摘Aiming at the part quality and building time problems in stereolithography （SL） caused by unreasonable building orientation, a part building orientation decision method in SL rapid prototyping （RP） is carried out. Bringing into full consideration of the deformation, stair-stepping effect, overcure effect and building time related to the part fabrication orientation, and using evaluation function method, a multi-objective optimization model for the building orientation is defined. According to the difference in the angles between normal vectors of triangular facets in standard triangulation language （STL） model and z axis, the expressions of deformation area, stair-stepping area, overcure area are established. According to the characteristics in SL process, part building time is divided into four sections, that is, hatching scanning time, outline scanning time, support building time and layer waiting time. Expressions of each building time section are given. Considering the features of this optimization model, genetic algorithm （GA） is used to derive the optimization objective, related software is developed and optimization results are tested through experiments. Application shows that this method can effectively solve the quality and efficiency troubles caused by unreasonable part building orientation, an automatic orientation-determining program is developed and verified through test.
