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题名: Genetic algorithm based parameter identification for parallel manipulators
作者: Chen WJ(陈文家) ; Wei YZ(魏英姿) ; Qin YF(秦永法) ; Zhao MY(赵明扬)
作者部门: 机器人学研究室
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
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
出版日期: 2002
页码: 1200-1204
收录类别: CPCI(ISTP) ; EI
ISBN号: 0-7803-7268-9
关键词: genetic algorithm ; parameters identification ; calibration methods ; parallel manipulators
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.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8722
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
陈文家; 魏英姿; 秦永法; 赵明扬.Genetic algorithm based parameter identification for parallel manipulators.见:IEEE .PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4,NEW YORK,2002,1200-1204
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