<正>The kinematic error model of a 6-DOF space robot is deduced,and the cost function of kinematic parameter identification is built.With the aid of the genetic algorithm (GA) that has the powerful global adaptive probabilistic search ability,24 parameters of the robot are identified through simulation,which makes the pose (position and orientation) accuracy of the robot a great improvement.In the process of the calibration,stochastic measurement noises are considered.Lastly, generalization of the identified kinematic parameters in the whole workspace of the robot is discussed. The simulation results show that calibrating the robot with GA is very stable and not sensitive to measurement noise.Moreover,even if the robot’s kinematic parameters are relative,GA still has strong search ability to find the optimum solution.
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机译:Studies in the Area of Robotics Reported from National Institute of Technology (Image Space Trajectory Tracking of 6-dof Robot Manipulator In Assisting Visual Servoing)
机译:Findings from University of Bourgogne Franche-Comte Provides New Data on Nanopositioning (6-dof Full Robotic Calibration Based On 1-d Interferometric Measurements for Microscale and NanoscaleApplications)
机译:LTE通讯系统中针对同层干扰环境对微小型基地台功率控制与用户位置推荐演算法 =Femtocell Power Control and User Location Recommendation Algorithm for Co-Tier Interference Environment in LTE Communication System