• 论文 •

基于遗传算法的串联机械臂运动学参数标定

1. 1.江南大学机械工程学院江苏省食品先进制造装备技术重点实验室, 无锡 214122; 2. 江南大学机械工程学院,无锡 214122;  中国科学院先进制造技术研究所, 常州 213164
• 出版日期:2015-01-25 发布日期:2015-04-08

WANG Kun, LUO Minzhou,CAO Yi,Li ke,ZHANG Qiujiu. KINEMATIC PARAMETER CALIBRATION OF A SERIAL MANIPULATOR BASED ON GENETIC ALGORITHM[J]. Journal of Systems Science and Mathematical Sciences, 2015, 35(1): 19-30.

KINEMATIC PARAMETER CALIBRATION OF A SERIAL MANIPULATOR BASED ON GENETIC ALGORITHM

WANG Kun1, LUO Minzhou2 , CAO Yi2 , Li ke2 , ZHANG Qiujiu2

1. 1. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology,Jiangnan University, Wuxi  214122; 2.School of Mechanical Engineering, Jiangnan University, Wuxi 214122; Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences,
Changzhou 213164
• Online:2015-01-25 Published:2015-04-08

The parameter identification techniques are effective for decreasing the position and orientation errors of the end-effector which are induced by the inaccurate kinematics parameters of the manipulator. This paper presents a joint parameters identification method of the manipulator based on the genetic algorithms. The kinematics model and the error model of the manipulator are firstly built, and the expression of errors of joint parameters is obtained. Then actual positions and postures of the manipulator, as well as the joint rotation angles are measured by the NDI 3D dynamic displacement measurement system, and recorded for the following experiments. Moreover, the fitness function of the genetic algorithms is built, and the errors of the joint parameters are estimated. Finally, the errors are used to compensate the values of the designed parameters of the 6-DOF serial manipulator, and numerical experimental results demonstrate that the method of the applying the calibrated parameters in the control system can effectively improve the positioning accuracy of the robot.

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