DocumentCode :
1952989
Title :
Optimal planning of robot calibration experiments by genetic algorithms
Author :
Zhuang, Hanqi ; Wu, Jie ; Huang, Weizhen
Author_Institution :
Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA
Volume :
2
fYear :
1996
fDate :
22-28 Apr 1996
Firstpage :
981
Abstract :
In this paper, techniques developed in the science of genetic computing are applied to solve the problem of optimally selecting robot measurement configurations, which is an important element in successfully completing a robot calibration experiment. Genetic algorithms are customized for a type of robot measurement configuration selection problem in which the robot workspace constraints are defined in terms of robot joint limits. Simulation studies are conducted to examine the effectiveness of the genetic algorithms for the application
Keywords :
calibration; design of experiments; genetic algorithms; robots; genetic algorithms; optimal planning; robot calibration experiments; robot joint limits; robot measurement configuration selection problem; Biological cells; Calibration; Genetic algorithms; Genetic mutations; Jacobian matrices; Kinematics; Noise measurement; Orbital robotics; Parameter estimation; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
ISSN :
1050-4729
Print_ISBN :
0-7803-2988-0
Type :
conf
DOI :
10.1109/ROBOT.1996.506836
Filename :
506836
Link To Document :
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