Title :
Accurate Calibration of a Robotic Positioning System Using the Evolutionary Search
Author :
Chang, Yau-Zen ; Hou, Jung-Fu ; Lee, Shih-Tseng
Author_Institution :
Dept. of Mech. Eng., Chang Gung Univ., Taoyuan
Abstract :
This paper presents an evolutionary search strategy based on the island model to find the accurate transformation matrix between an infrared optical tracking system and a 6-axis robot arm. We demonstrate how a parallel genetic-algorithm mechanism, also known as the migration scheme, coupled with a local simplex-downhill strategy can effectively solve this multi-dimensional difficult problem. Finally, experimental and numerical example of the proposed strategy for a system composed of a Mitsubishi Electric RV 6S robot arm and an NDI Polaris system is presented. Performance of the calibrated positioning system has a maximum positioning error of 0.6 mm within a one meter cubic working space
Keywords :
calibration; genetic algorithms; manipulators; optical tracking; parallel algorithms; position control; query formulation; 6-axis robot arm; Polaris system; a Mitsubishi Electric RV 6S robot arm; evolutionary search strategy; infrared optical tracking system; multi-dimensional difficult problem; parallel genetic-algorithm mechanism; positioning system calibration; simplex-downhill strategy; transformation matrix; Biomedical optical imaging; Calibration; Electronics packaging; Manipulators; Manufacturing; Optical polarization; Orbital robotics; Robot kinematics; Robotic assembly; Service robots;
Conference_Titel :
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location :
Paris
Print_ISBN :
1-4244-0390-1
DOI :
10.1109/IECON.2006.348132
