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首页> 外文会议>International conference on green communications and networks >Posture Error Correction of a Six-DOF Serial Manipulator Based on Genetic Algorithms
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Posture Error Correction of a Six-DOF Serial Manipulator Based on Genetic Algorithms

机译：基于遗传算法的六自由度串行机器人姿态误差校正

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Traditionally, the posture errors of a serial manipulator are corrected through the calibration of geometric parameters. However, this paper presents a compensation method based on genetic algorithms which corrects the joint variables of a serial manipulator, thus reducing the posture errors. The structures of the kinematics model and the error model of the 6-DOF manipulator are firstly established. Using the position and posture data of the manipulator measured by the NDI 3D dynamic displacement measurement system, the errors between the desired and the measured poses of the end-effectors are then calculated and set as the fitness function. The fitness function is used in the genetic algorithms to determine the compensation for the manipulator's rotational joint variables. Finally, the joint variables 'compensation is implemented to the control system of the designed 6-DOF serial manipulator, and groups of experimental data are presented to demonstrate the efficiency of the technique discussed and the improved performance of the manipulator.
机译：传统上，串行机械手的姿态误差是通过几何参数的校准来校正的。然而，本文提出了一种基于遗传算法的补偿方法，该方法可以校正串行机械手的关节变量，从而减少姿态误差。首先建立了六自由度机械臂的运动学模型和误差模型。使用由NDI 3D动态位移测量系统测量的机械手的位置和姿势数据，计算出末端执行器的期望姿态和测量姿态之间的误差，并将其设置为适应度函数。适应度函数在遗传算法中用于确定对机械手旋转关节变量的补偿。最后，对设计的6-DOF串联机械手的控制系统进行了联合变量的补偿，并给出了实验数据组，以证明所讨论技术的效率和机械手的改进性能。

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