Kinematic Calibration Method of Robots Based on Quantum-behaved Particle Swarm Optimization

doi:10.3901/JME.2016.07.023

Abstract

Abstract: Based on quantum-behaved particle swarm optimization (QPSO), a kinematic calibration method is proposed, which is applicable to both serial robots and parallel robots. Based on closed-loop vector chain method and Denavit-Hartenberg method, The kinematic error models of these two robots are built and the robots’ mechanism parameters are determined as optimal variables. Due to the nonlinearity of kinematic error models, the kinematic parameters calibration problem is transformed to a nonlinear optimization problem. The QPSO algorithm is applied to search for the global optimum solution of the optimization problem, update the kinematic models with calculation results to increase robots’ accuracy. The effectiveness of the proposed calibration approach is demonstrated through some experiments based on the constraint mechanism of 5-DOF parallel machine tool. Compared with fuzzy interpolation method, this kinematic calibration method based on QPSO is more effective in a biggish workspace.

Key words: kinematic calibration, pose error, quantum-behaved particle swarm optimization, robot

CLC Number:

TG502

FANG Lijin, DANG Pengfei. Kinematic Calibration Method of Robots Based on Quantum-behaved Particle Swarm Optimization[J]. Journal of Mechanical Engineering, 2016, 52(7): 23-30.

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