Robot calibration based on modified differential evolution algorithm

JIANG Yi-zhou; YU Lian-dong; CHANG Ya-qi; JIA Hua-kun; ZHAO Hui-ning

doi:10.37188/OPE.2020.0603

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Robot calibration based on modified differential evolution algorithm

Micro\/Nano Technology and Fine Mechanics | 更新时间：2026-09-12

- Robot calibration based on modified differential evolution algorithm
- Optics and Precision Engineering Vol. 29, Issue 7, Pages: 1580-1588(2021)
- 作者机构：
  
  1.合肥工业大学仪器科学与光电工程学院，安徽合肥 230009
  2.中国石油大学控制科学与工程学院，山东青岛 250000
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.2020.0603
  CLC： TP242.6
- Received：18 November 2020，
  
  Revised：2020-12-11，
  
  Published：15 July 2021
- 稿件说明：
移动端阅览
姜一舟,于连栋,常雅琪等.基于改进差分进化算法的机器人运动学参数标定[J].光学精密工程,2021,29(07):1580-1588.

JIANG Yi-zhou,YU Lian-dong,CHANG Ya-qi,et al.Robot calibration based on modified differential evolution algorithm[J].Optics and Precision Engineering,2021,29(07):1580-1588.
姜一舟,于连栋,常雅琪等.基于改进差分进化算法的机器人运动学参数标定[J].光学精密工程,2021,29(07):1580-1588. DOI： 10.37188/OPE.2020.0603.

JIANG Yi-zhou,YU Lian-dong,CHANG Ya-qi,et al.Robot calibration based on modified differential evolution algorithm[J].Optics and Precision Engineering,2021,29(07):1580-1588. DOI： 10.37188/OPE.2020.0603.

摘要

机器人的定位精度是评价机器人性能的重要指标。为提高机器人的定位精度，提出了一种改进差分进化算法，完成了机器人运动学参数标定实验。该算法在选择操作中使用了Metropolis接受准则，搜索更多的空间区域，以获得更好的收敛性。同时提出了种群多样性评价函数来监测种群多样性，种群低于阈值时进行二次变异操作，以避免陷入局部优化。为了验证本文提出的方法，利用六自由度机器人和激光跟踪器进行了仿真和实验。经过运动学参数标定，机器人的平均距离精度由2.906 0 mm（校准前）提高到0.095 2 mm。实验结果证明了本文提出的基于改进差分进化算法的机器人运动学参数辨识方法的有效性。

Abstract

Robot calibration is an important process used for enhancing the positioning accuracy of robots. In this paper， a modified differential evolution algorithm was proposed for the identification of robot kinematic parameters. The generalized Metropolis acceptance criterion was used in the selection operation of the proposed algorithm to explore more regions of the search space for a better convergence. In addition， the population evaluation function established in this study could greatly enhance the global-optimization ability of the modified differential evolution algorithm. Herein， the kinematic model was developed based on the product of exponentials （POE） formula to describe the relationship between the kinematic parameter errors and the end-effector positioning errors. To verify the efficiency of the proposed algorithm， simulations and experiments were performed using a six-degree-of-freedom robot and laser tracker. Through the kinematics parameter calibration

the average distance precision of robot is reduced from 2.906 0 mm (calibration) to 0.095 2 mm. The experimental results proves the effectiveness of the modified differential evolution algorithm for calibration of robot kinematics parameters.

关键词

Keywords

references

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