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

fYear

2006

fDate

6-10 Nov. 2006

Firstpage

3886

Lastpage

3891

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;

fLanguage

English

Publisher

ieee

Conference_Titel

IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on

Conference_Location

Paris

ISSN

1553-572X

Print_ISBN

1-4244-0390-1

Type

conf

DOI

10.1109/IECON.2006.348132

Filename

4153393