Calibration of a Steward Parallel Robot Using Genetic Algorithm

Author

Liu, Yu ; Liang, Bin ; Li, Cheng ; Xue, Lijun ; Hu, SongHua ; Jiang, Yanshu

Author_Institution

Harbin Inst. of Technol., Harbin

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

2495

Lastpage

2500

Abstract

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.

Keywords

adaptive control; calibration; genetic algorithms; manipulator kinematics; position control; probability; calibration; genetic algorithm; global adaptive probabilistic search ability; inverse kinematics; pose accuracy; steward parallel robot; Calibration; Genetic algorithms; Kinematics; Machining; Manipulators; Noise measurement; Parallel robots; Robotics and automation; Sea measurements; Sensor phenomena and characterization; Calibration; Genetic Algorithm; Measurement Noises; Parallel Robot; Pose Accuracy;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4303948

Filename

4303948