TY - GEN
T1 - A novel calibration method of parallel kinematic manipulators based on multi-population coevolutionary neural network
AU - Zhang, Dan
AU - Gao, Zhen
AU - Jiang, Peigang
PY - 2011
Y1 - 2011
N2 - Kinematic calibration is an indispensable procedure for the predefined parallel kinematic manipulators to improve their operational accuracy with/without external loads. However, different with the calibration of simple devices such as force/torque sensors, as a rather complex mechanical system, the calibration of parallel kinematic manipulator is complicated and time-consuming. In this research, the concept of optimal robust calibration is developed as an effective approach to largely reduce various errors of the predefined parallel mechanism. A multi-population coevolutionary neural network is designed to establish the complex nonlinear relationship between joint variables and the related deviation with respect to the measured pose of the end-effector. With this algorithm, the pseudo-error in arbitrary joint configuration is obtained and thus the control parameters can be adjusted accordingly. The results are validated through the case studies about a unique parallel robotic machine tool.
AB - Kinematic calibration is an indispensable procedure for the predefined parallel kinematic manipulators to improve their operational accuracy with/without external loads. However, different with the calibration of simple devices such as force/torque sensors, as a rather complex mechanical system, the calibration of parallel kinematic manipulator is complicated and time-consuming. In this research, the concept of optimal robust calibration is developed as an effective approach to largely reduce various errors of the predefined parallel mechanism. A multi-population coevolutionary neural network is designed to establish the complex nonlinear relationship between joint variables and the related deviation with respect to the measured pose of the end-effector. With this algorithm, the pseudo-error in arbitrary joint configuration is obtained and thus the control parameters can be adjusted accordingly. The results are validated through the case studies about a unique parallel robotic machine tool.
KW - kinematic calibration
KW - multi-population coevolutionary neural network
KW - operational accuracy
KW - parallel kinematic manipulators
UR - http://www.scopus.com/inward/record.url?scp=79961145955&partnerID=8YFLogxK
U2 - 10.1109/SMDCM.2011.5949272
DO - 10.1109/SMDCM.2011.5949272
M3 - Conference article published in proceeding or book
AN - SCOPUS:79961145955
SN - 9781612840697
T3 - IEEE SSCI 2011 - Symposium Series on Computational Intelligence - MCDM 2011: 2011 IEEE Symposium on Computational Intelligence in Multicriteria Decision-Making
SP - 205
EP - 211
BT - IEEE SSCI 2011 - Symposium Series on Computational Intelligence - MCDM 2011
T2 - Symposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Symposium on Computational Intelligence in Multicriteria Decision-Making, MCDM 2011
Y2 - 11 April 2011 through 15 April 2011
ER -