基于遗传算法的机器人最优测量构型研究

J4 ›› 2008, Vol. 19 ›› Issue (3): 262-266.

基于遗传算法的机器人最优测量构型研究

王东署;张文丙

收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2008-02-10 发布日期:2008-02-10

Optimal Measurement Configurations for Robot Calibration Based on
Genetic Algorithm

Wang Dongshu;Zhang Wenbing

Received:1900-01-01 Revised:1900-01-01 Online:2008-02-10 Published:2008-02-10

摘要/Abstract

摘要：

研究了机器人标定中最优测量构型的选择，采用奇异值分解方法获得了机器人位姿测量构型的观测指标。以该指标为优化的目标函数，利用遗传算法来选择机器人的一系列最优测量构型，以最小化参数估计中测量和建模误差的影响。实验结果表明，利用该方法获得的最优测量构型的标定结果优于随机选择的测量构型的标定结果。

关键词: 机器人；标定；遗传算法；最优构型

Abstract:

The selection of measurement configurations in robot calibration was investigated.Observability index of the robot pose measurement configuration was achieved through singular value decomposition, using the observability index as the optimization objective function,a set of robot measurement configurations were selected with genetic algorithm,so that the effect of measurement and modeling errors in parameter estimation can be minimized.Experimental results demonstrate that its calibration effect is superior to that of the random selection measurement configurations.

Key words: robot;calibration;genetic algorithm;optimal configuration

中图分类号:

TP242.2

王东署;张文丙. 基于遗传算法的机器人最优测量构型研究[J]. J4, 2008, 19(3): 262-266.

Wang Dongshu;Zhang Wenbing. Optimal Measurement Configurations for Robot Calibration Based on
Genetic Algorithm[J]. J4, 2008, 19(3): 262-266.

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