Volume 7, Issue 4 (December 2011)                   IJEEE 2011, 7(4): 225-234 | Back to browse issues page

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Barati M, Khoogar A R, Nasirian M. Estimation and Calibration of Robot Link Parameters with Intelligent Techniques. IJEEE 2011; 7 (4) :225-234
URL: http://ijeee.iust.ac.ir/article-1-310-en.html
Estimation and Calibration of Robot Link Parameters with Intelligent Techniques
M. Barati , A. R. Khoogar , M. Nasirian
Abstract:   (9313 Views)
Abstract: 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.
Keywords: Calibration , Identification , Genetic Algorithm , Least Square , Particle Swarm Optimization , Robot Manipulator
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Type of Study: Research Paper | Subject: Parameter Estimation
Received: 2010/08/22 | Revised: 2011/12/24 | Accepted: 2011/12/19
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Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
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© 2022 by the authors. Licensee IUST, Tehran, Iran. This is an open access journal distributed under the terms and conditions of the Creative Commons Attribution-NonCommercial 4.0 International (CC BY-NC 4.0) license.