Calibration of Modular Reconfigurable Robots Based on a Hybrid Search Method

被引：10
作者：
Lin, Yu [1 ]
Xi, Fengfeng [1 ]
Mohamed, Richard Phillip [1 ]
Tu, Xiao-wei [2 ]
机构：
[1] Ryerson Univ, Dept Aerosp Engn, Toronto, ON M5B 2K3, Canada
[2] Natl Res Council Canada, Aerosp Mfg Technol Ctr, Montreal, PQ H3T 2B2, Canada
来源：
JOURNAL OF MANUFACTURING SCIENCE AND ENGINEERING-TRANSACTIONS OF THE ASME | 2010年 / 132卷 / 06期
关键词：
calibration; genetic algorithms; modular reconfigurable robots; Monte Carlo method; KINEMATIC CALIBRATION; MANIPULATORS; SYSTEM;
D O I：
10.1115/1.4002586
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Developed in this paper is a hybrid method for calibration of modular reconfigurable robots (MRRs). The underlying problem under study is unique to MRRs, that is, how to calibrate a set of MRR's geometric parameters that are applicable to all feasible configurations. For this reason, a hybrid search method is developed to ensure a global search over the MRRs' workspace for each feasible configuration. By combining a genetic algorithm method with a Monte Carlo method, this method includes three levels of search, namely, pose, workspace, and configuration-space. The final set of global solutions is generated progressively from the results of these three levels of search. The effectiveness of this method is demonstrated through a case study. [DOI: 10.1115/1.4002586]
引用
收藏
页码：0610021 / 0610028
页数：8
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