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CALIBRATION OF A 6-DOF SPACE ROBOT USING GENETIC ALGORITHM 被引量:16
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作者 LIU Yu JIANG Yanshu +1 位作者 LIANG Bin XU Wenfu 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2008年第6期6-13,共8页
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
关键词 Robot calibration Position and orientation accuracy Measurement noises Genetic algorithm
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