Robot calibration using genetic programming

被引：0

作者：

Dolinsky, JU ^{[1
]}

Colquhoun, G ^{[1
]}

Jenkinson, I ^{[1
]}

机构：

[1] Liverpool John Moores Univ, Liverpool L3 5UX, Merseyside, England

来源：

E-MANUFACTURING: BUSINESS PARADIGMS AND SUPPORTING TECHNOLOGIES | 2004年

关键词：

robot calibration; genetic programming; kinematic model; positional error; symbolic regression;

D O I：

暂无

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

Conventional robot calibration techniques rely on numerical optimisation methods with file attendant problems of kinematic equation non-linearities, inappropriate model parameterisations and parameter discontinuities or redundancies. In this paper research using a symbolic co-evolutionary calibration algorithm is described. The approach merges established kinematic modelling techniques with Genetic Programming to generate joint correction functions as part of an inverse calibration model. The data generated ill a calibration procedure is described and the paper concludes by discussing the potential for symbolic calibration and the automatic generation of correction models using Genetic Programming.

引用

页码：113 / 119

页数：7

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