Enhancing pose accuracy of space robot by improved differential evolution
| Autor: | Wen-fu Xu, Yu Liu, Hong Liu, Feng-lei Ni |
|---|---|
| Rok vydání: | 2012 |
| Předmět: |
Robot calibration
business.industry Metals and Alloys General Engineering Monte Carlo localization Kinematics Robot end effector law.invention Computer Science::Robotics law Control theory Position (vector) Differential evolution Robot Computer vision Point (geometry) Artificial intelligence business Mathematics |
| Zdroj: | Journal of Central South University. 19:933-943 |
| ISSN: | 2227-5223 2095-2899 |
| DOI: | 10.1007/s11771-012-1095-1 |
| Popis: | Due to the intense vibration during launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose (including position and orientation) of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution (DE) algorithm. A six-degree of freedom (6-DOF) robot is used as a practical simulation example, and the simulation results show: 1) A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2) Search efficiency is increased by improved DE; 3) More calibration configurations may make calibration results better. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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