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