Genetic algorithm based parameter identification for parallel manipulators
文献类型：会议论文
| 作者 | Chen WJ(陈文家); Wei YZ(魏英姿); Qin YF(秦永法); Zhao MY(赵明扬)
|
| 出版日期 | 2002 |
| 会议名称 | 4th World Congress on Intelligent Control and Automation |
| 会议日期 | June 10-14, 2002 |
| 会议地点 | SHANGHAI, China |
| 关键词 | genetic algorithm parameters identification calibration methods parallel manipulators |
| 页码 | 1200-1204 |
| 中文摘要 | Kinematic calibration is a process in which the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. This paper presents a genetic algorithm based method of parameter identification for parallel manipulators. It removes the need to measure orientation, which is intricate and error-prone. The method using the inverse kinematics model instead of the forward one which faces more serious stability issues since it relies on a numerical solution of forward kinematics, with problematic convergence in the presence of noise is more robust because it decouple the problem into the calibration of each leg independently, and because the constraints admit an analytic form. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Tongji Univ, Shanghai Jiaotong Univ, E China Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Shanghai Assoc Automat |
| 会议录 | PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-7268-9 |
| WOS记录号 | WOS:000179017500256 |
| 源URL | [http://ir.sia.cn/handle/173321/8722]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Chen WJ,Wei YZ,Qin YF,et al. Genetic algorithm based parameter identification for parallel manipulators[C]. 见:4th World Congress on Intelligent Control and Automation. SHANGHAI, China. June 10-14, 2002. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。