Application of genic programming to the calibration of industilal robots

Robot calibration is a widely studied area for which a variety of solutions have been generated. Most of the methods proposed address the calibration problem by establishing a model structure followed by indirect, often ill-conditioned numeric parameter identification. This paper introduces a new in...

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Veröffentlicht in:	Computers in industry 2007-04, Vol.58 (3), p.255
Hauptverfasser:	Dolinsky, J U, Jenkinson, I D, Colquhoun, G J
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Sprache:	eng
Schlagworte:	Calibration Genetic algorithms Kinematics Parameter identification Robots Studies
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description	Robot calibration is a widely studied area for which a variety of solutions have been generated. Most of the methods proposed address the calibration problem by establishing a model structure followed by indirect, often ill-conditioned numeric parameter identification. This paper introduces a new inverse static kinematic calibration technique based on genetic programming, which is used to establish and identify model structure and parameters. The technique has the potential to identify the true calibration model avoiding the problems of conventional methods. The fundamentals of this approach are described and experimental results provided. [PUBLICATION ABSTRACT]
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subjects	Calibration Genetic algorithms Kinematics Parameter identification Robots Studies
title	Application of genic programming to the calibration of industilal robots
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