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Structural identification and calibration of kinematic robot models by genetic search

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Book cover Proceedings of the 33rd International MATADOR Conference

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Abstract

Accurate robot modelling is of great importance to the application of enhanced robot programming tools such as Offline Programming systems. This paper describes a prototype of an automated kinematic modelling environment, which is primarily based on evolutionary computation. A genetic algorithm herein attempts to find an optimal model structure of the forward kinematic of an industrial robot based on measurements reflecting individual characteristics. Finally it will be reported on results obtained from simulation experiments.

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References

  1. Beasley, D., D.R. Bull and R.R. Martin, (1993), An Overview Of Genetic Algorithms. University Computing, Part 1 “Fundamentals”, 15(2) 58–69, Part 2 “Research Topics”, 15(4) 170–181.

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Author information

Authors and Affiliations

  1. School of Engineering, Liverpool John Moores University, Byrom Street, Liverpool, L3 3AF, England

    Jens-Uwe Dolinsky, I. D. Jenkinson & G. J. Colquhoun

Authors
  1. Jens-Uwe Dolinsky
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  2. I. D. Jenkinson
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  3. G. J. Colquhoun
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, University of Manchester Institute of Science and Technology, PO Box 88, Sackville Street, Manchester, M60 1QD, UK

    David R. Hayhurst BSc, PhD, ScD, CEng, FIM, FIMechE

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© 2000 Springer-Verlag London Limited

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Dolinsky, JU., Jenkinson, I.D., Colquhoun, G.J. (2000). Structural identification and calibration of kinematic robot models by genetic search. In: Hayhurst, D.R., et al. Proceedings of the 33rd International MATADOR Conference. Springer, London. https://doi.org/10.1007/978-1-4471-0777-4_31

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  • DOI: https://doi.org/10.1007/978-1-4471-0777-4_31

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-1200-6

  • Online ISBN: 978-1-4471-0777-4

  • eBook Packages: Springer Book Archive

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