Application of camera calibrating model to space manipulator with multi-objective genetic algorithm

被引：0

作者：

王中宇 ^{[1
]}

江文松 ^{[1
]}

王岩庆 ^{[2
]}

机构：

[1] Key Laboratory of Precision Opto-Mechatronics Technology of Ministry of Education(Beihang University)

[2] Academy of Opto-Electronics, Chinese Academy of Sciences

来源：

Journal of Central South University | 2016年 / 23卷 / 08期

关键词：

space manipulator; camera calibration; multi-objective genetic algorithm; orbital simulation and measurement;

D O I：

暂无

中图分类号：

TP241 [机械手]; TP18 [人工智能理论];

学科分类号：

080202 ; 1405 ; 081104 ; 0812 ; 0835 ;

摘要：

The multi-objective genetic algorithm(MOGA) is proposed to calibrate the non-linear camera model of a space manipulator to improve its locational accuracy. This algorithm can optimize the camera model by dynamic balancing its model weight and multi-parametric distributions to the required accuracy. A novel measuring instrument of space manipulator is designed to orbital simulative motion and locational accuracy test. The camera system of space manipulator, calibrated by MOGA algorithm, is used to locational accuracy test in this measuring instrument. The experimental result shows that the absolute errors are [0.07, 1.75] mm for MOGA calibrating model, [2.88, 5.95] mm for MN method, and [1.19, 4.83] mm for LM method. Besides, the composite errors both of LM method and MN method are approximately seven times higher that of MOGA calibrating model. It is suggested that the MOGA calibrating model is superior both to LM method and MN method.

引用

页码：1937 / 1943

页数：7

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