Title :
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
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;
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
DOI :
10.1109/ICMA.2007.4303948
