ROBOT KINEMATIC CALIBRATION ACCURACY USING GENETIC ALGORITHM | ||||
| ERJ. Engineering Research Journal | ||||
| Article 9, Volume 23, Issue 4, October 2000, Page 119-129 PDF (268.6 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/erjm.2000.71226 | ||||
 View on SCiNiTO | ||||
| Author | ||||
| Salem Samak | ||||
| Prod. Eng. & Mech. Design Dept. Faculty of Engineering Menoufia University Shebin El-Kom, EGYPT | ||||
| Abstract | ||||
| Position and orientation accuracy of the end-effector is influenced by the precision of kinematic parameters elements of the robot. Thus, good precision requires good knowledge of robot"~hysical parameters values. Howevk this condition can be difficult to meet ii practice. Hence, calibration techniques can be devised in order to improve the robot accuracy through estimation of those particular parameters. In this paper, the Genetic Algorithm (GA) is'used to calibrate the robot kinematic accuracy. A kinematic model is formulated and conducted as an optimization problem for serial robot manipulators. The objective is to analyze and evaluate the performance of the GA in optimizing such robot kinematic accuracy. In this algorithm, the errors in the robot parameters represent the phents and offspring population and the error matrix norms represent the cost functions. The convergence and &ectiveness of the presented model are demonstrated by a numerical example. | ||||
| Keywords | ||||
| Manipulators; Robotics; calibration; accuracy; Genetic Algorithm | ||||
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