Calibration of Modular Reconfigurable Robots Based on a Hybrid Search Method

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...

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Veröffentlicht in:Journal of manufacturing science and engineering 2010-12, Vol.132 (6)
Hauptverfasser: Lin, Yu, Xi, Fengfeng, Mohamed, Richard Phillip, Tu, Xiao-wei
Format: Artikel
Sprache:eng
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Zusammenfassung: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.
ISSN:1087-1357
1528-8935
DOI:10.1115/1.4002586