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首页> 外文期刊>Robotics and Computer-Integrated Manufacturing >Kinematic calibration method for a two-segment hydraulic leg based on an improved whale swarm algorithm
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Kinematic calibration method for a two-segment hydraulic leg based on an improved whale swarm algorithm

机译：基于改进鲸群算法的双段液压腿的运动校准方法

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摘要

Legged robots have become a hot topic in robotics owing to their superior mobility. In this study, a two-segment hydraulic robotic leg with the kinematic model is first presented. In this leg, the tracking accuracy of the joint angle depends on the kinematic model precision. However, this model is highly nonlinear and it is very difficult to obtain accurate parameters by means of traditional techniques. To overcome this problem, it is converted into a constrained multimodal function optimization problem; thereafter, a novel kinematic calibration method based on an improved whale swarm algorithm (IWSA) is proposed. Several modification strategies are implemented to improve the searching ability and robustness of the IWSA. Moreover, an effective constraint-handling mechanism is designed for the IWSA. To evaluate the IWSA performance, we compare the IWSA with the WSA and other algorithms on several benchmark functions and calibration experiments. The results indicate the superiority of the IWSA over its competitors. The further case study shows that the tracking accuracy is significantly improved after calibration, which confirms the application effectiveness of the proposed IWSA-based calibration method.
机译：由于流动性优越，腿机器人已成为机器人中的热门话题。在这项研究中，首先提出了一种具有运动模型的双段液压机器人腿。在该腿中，关节角度的跟踪精度取决于运动模型精度。然而，该模型非常非线性，并且通过传统技术获得准确的参数是非常困难的。为了克服这个问题，它被转换为约束的多模函数优化问题;此后，提出了一种基于改进的鲸群算法（IWSA）的新型运动校准方法。实施了几种修改策略，以提高IWSA的搜索能力和鲁棒性。此外，为IWSA设计了有效的约束处理机制。为了评估IWSA性能，我们将IWSA与WSA和其他算法进行了几个基准功能和校准实验。结果表明IWSA在竞争对手上的优越性。进一步的案例研究表明，校准后跟踪精度显着提高，这证实了所提出的基于IWSA的校准方法的应用效果。

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  • 来源
    《Robotics and Computer-Integrated Manufacturing》 |2019年第10期|361-372|共12页
  • 作者

    Zhong Haoran; Hu Chenghao; Li Xinyu; Gao Liang; Zeng Bing; Dong Haozhen;

  • 作者单位

    Huazhong Univ Sci & Technol Sch Mech Sci & Engn State Key Lab Digital Mfg Equipment & Technol Wuhan 430074 Hubei Peoples R China;

    Huazhong Univ Sci & Technol Sch Mech Sci & Engn State Key Lab Digital Mfg Equipment & Technol Wuhan 430074 Hubei Peoples R China;

    Huazhong Univ Sci & Technol Sch Mech Sci & Engn State Key Lab Digital Mfg Equipment & Technol Wuhan 430074 Hubei Peoples R China;

    Huazhong Univ Sci & Technol Sch Mech Sci & Engn State Key Lab Digital Mfg Equipment & Technol Wuhan 430074 Hubei Peoples R China;

    Huazhong Univ Sci & Technol Sch Mech Sci & Engn State Key Lab Digital Mfg Equipment & Technol Wuhan 430074 Hubei Peoples R China;

    Huazhong Univ Sci & Technol Sch Mech Sci & Engn State Key Lab Digital Mfg Equipment & Technol Wuhan 430074 Hubei Peoples R China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Kinematic calibration; Hydraulic leg; IWSA; Precision;

    机译：运动校准;液压腿;IWSA;精确度;

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