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Calibration of a Steward Parallel Robot Using Genetic Algorithm

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6 Author(s)
Yu Liu ; Harbin Inst. of Technol., Harbin ; Bin Liang ; Cheng Li ; Lijun Xue
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The paper presents a new calibration method of the parallel robot using genetic algorithm (GA) which has the powerful global adaptive probabilistic search ability. In the process of the calibration, calculation of measurement residuals through inverse kinematics is adopted, which greatly reduces calculation burden and saves operation time. At last, in the form of simulation and experiment, considering the influence of measurement noise the steward parallel robot is respectively calibrated and its pose (position and orientation) accuracy has a significant improvement.

Published in:

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Date of Conference:

5-8 Aug. 2007