Abstract
Conventional robot calibration techniques rely on numerical optimisation methods with the attendant problems of; kinematic equation non-linearities, inappropriate model parameterisations and parameter discontinuities or redundancies. In this paper research using a symbolic co-evolutionary calibration algorithm is described. The approach merges established kinematic modelling techniques with Genetic Programming to generate joint correction junctions as part of an inverse calibration model. The data generated in a calibration procedure is described and the paper concludes by discussing the potential for symbolic calibration and the automatic generation of correction models using Genetic Programming.
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© 2004 Springer Science+Business Media New York
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Dolinsky, JU., Colquhoun, G., Jenkinson, I. (2004). Robot Calibration Using Genetic Programming. In: Ferreira, J.J.P. (eds) E-Manufacturing: Business Paradigms and Supporting Technologies. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-8945-1_12
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DOI: https://doi.org/10.1007/978-1-4419-8945-1_12
Publisher Name: Springer, Boston, MA
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