Estimation and Calibration of Robot Link Parameters with Intelligent Techniques

Using robot manipulators for high accuracy applications require precise value of the kinematics parameters. Since measurement of kinematics parameters are usually associated with errors and accurate measurement of them is an expensive task, automatic calibration of robot link parameters makes the ta...

Full description

Saved in:
Bibliographic Details
Published inIranian journal of electrical & electronic engineering Vol. 7; no. 4; pp. 225 - 234
Main Authors M. Barati, A. R. Khoogar, M. Nasirian
Format Journal Article
LanguageEnglish
Published Iran University of Science and Technology 01.12.2011
Subjects
calibration
genetic algorithm
identification
least square
particle swarm optimization
robot manipulator
Online AccessGet full text

Cover

More Information
Summary:Using robot manipulators for high accuracy applications require precise value of the kinematics parameters. Since measurement of kinematics parameters are usually associated with errors and accurate measurement of them is an expensive task, automatic calibration of robot link parameters makes the task of kinematics parameters determination much easier. In this paper a simple and easy to use algorithm is introduced for correction and calibration of robot kinematics parameters. Actually at several end-effecter positions, the joint variables are measured simultaneously. This information is then used in two different algorithms least square (LS) and Genetic algorithm (GA) for automatic calibration and correction of the kinematics parameters. This process was also tested experimentally via a three degree of freedom manipulator which is actually used as a coordinate measuring machine (CMM). The experimental Results prove that the Genetic algorithms are better for both parameter identification and calibration of link parameters.
ISSN:1735-2827
2383-3890