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Robot calibration based on multi-thread particle swarm optimization

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3 Author(s)
Aiguo Li ; Autom. Res. Center, Dalian Maritime Univ., Dalian ; Defeng Wu ; Zi Ma

Main contributions include: (1) A platform composed of a structure-light vision sensor and a industrial robot is established for robot calibration. (2) Transform the robot calibration to an optimization problem through measuring a fixed point at different hand poses and positions. (3) A multi-thread particle swarm optimization algorithm is proposed and applied in robot kinematic parameter estimation. The effectiveness of the proposed method is validated by simulation.

Published in:

Industrial Informatics, 2008. INDIN 2008. 6th IEEE International Conference on

Date of Conference:

13-16 July 2008

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