Abstract
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.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Jun W, Wang J, You Z (2010) An overview of dynamic parameter identification of robots. Robotics Comput Integr Manuf 26(1):414–419
He R, Zhao Y et al (2010) Kinematic-parameter identification for serial-robot calibration based on POE formula. IEEE Trans Rob 26(3):411–422
Varziri MS, Notash L (2007) Kinematic calibration of a wire-actuated parallel robot. Mech Mach Theory 42(2):960–976
Santolaria J, Aguilar J et al (2008) Kinematic parameter estimation technique for calibration and repeatability improvement of articulated arm coordinate measuring machines. Precis Eng 32(4):251–268
Newman WS, Birkhimer CE et al (2000) Calibration of a Motoman P8 robot based on laser tracking. In: Proceedings of the IEEE international conference on robotics and automation, vol 4(12). San Francisco, CA, USA, pp 3597–3602
Gautier M, Janot A et al (2008) A new method for the dynamic identification of robots from only torque data. In: Proceedings of the IEEE international conference on robotics and automation, vol 15(5). Pasadena, CA, USA, pp 2122–2127
Wang KS (2009) Application of genetic algorithms to robot kinematics calibration. Int J Syst Sci 40(2):147–153
Kun W, Tao M (2010) Design and implementation of a 6-DOF robot control system based on CAN fieldbus. In: Proceedings of international computer music association, vol 41(13). Hongkong, China, pp 252–256
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Wang, K., Luo, M., Mei, T., Lin, X., Cao, Y. (2013). Posture Error Correction of a Six-DOF Serial Manipulator Based on Genetic Algorithms. In: Yang, Y., Ma, M. (eds) Proceedings of the 2nd International Conference on Green Communications and Networks 2012 (GCN 2012): Volume 4. Lecture Notes in Electrical Engineering, vol 226. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-35440-3_27
Download citation
DOI: https://doi.org/10.1007/978-3-642-35440-3_27
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-35439-7
Online ISBN: 978-3-642-35440-3
eBook Packages: EngineeringEngineering (R0)