Serial robots geometrical parameter identification using modified quantum behaved particle swarm optimization

DOI

10.2991/icmmcce-15.2015.584How to use a DOI?

Keywords

positioning accuracy, quantum behaved particle swarm optimization, serial robot, geometrical parameter errors.

Abstract

Knowledge of stringent value of the robot end-effector position is necessary in several industrial applications such as macroscopic structure measurement and assemblage. However, industrial robots cannot meet this challenge because of numerous errors. This paper presents a new method using quantum behaved particle swarm optimization (QPSO) to calibrate the robot geometrical parameters to improve the positioning accuracy of serial robots. Firstly, the errors of the axes are analysed, then the QPSO is used to calculate the errors. Experimental results show that the proposed method can effectively identify the robot geometrical parameters.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Haomeng Tong
PY  - 2015/12
DA  - 2015/12
TI  - Serial robots geometrical parameter identification using modified quantum behaved particle swarm optimization
BT  - Proceedings of the 4th International Conference on Mechatronics, Materials, Chemistry and Computer Engineering 2015
PB  - Atlantis Press
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmmcce-15.2015.584
DO  - 10.2991/icmmcce-15.2015.584
ID  - Tong2015/12
ER  -