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Accurate Calibration of a Robotic Positioning System Using the Evolutionary Search

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3 Author(s)
Yau-Zen Chang ; Dept. of Mech. Eng., Chang Gung Univ., Taoyuan ; Jung-Fu Hou ; Shih-Tseng Lee

This paper presents an evolutionary search strategy based on the island model to find the accurate transformation matrix between an infrared optical tracking system and a 6-axis robot arm. We demonstrate how a parallel genetic-algorithm mechanism, also known as the migration scheme, coupled with a local simplex-downhill strategy can effectively solve this multi-dimensional difficult problem. Finally, experimental and numerical example of the proposed strategy for a system composed of a Mitsubishi Electric RV 6S robot arm and an NDI Polaris system is presented. Performance of the calibrated positioning system has a maximum positioning error of 0.6 mm within a one meter cubic working space

Published in:

IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on

Date of Conference:

6-10 Nov. 2006

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