Robot calibrate method based on particle swarm optimization

A technology of particle swarm optimization and calibration method, which is applied in the field of calibration, can solve the problem that the error model optimization solution accuracy and speed are not covered by relevant literature, and achieve the effect of fast optimization solution and improved calibration accuracy and speed

Inactive Publication Date: 2015-04-15
SHENYANG SIASUN ROBOT & AUTOMATION
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Problems solved by technology

[0004] In the above-mentioned prior art, it is all aimed at establishing a suitable error model to improve the calibration accuracy of industrial robots, but there is no relevant literature related to the optimal solution accuracy and speed of the error model

Method used

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  • Robot calibrate method based on particle swarm optimization
  • Robot calibrate method based on particle swarm optimization
  • Robot calibrate method based on particle swarm optimization

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Embodiment Construction

[0027] In view of the above, it is necessary to provide an accurate and fast optimization solution method based on the existing robot kinematics error model, so as to achieve the purpose of improving the calibration accuracy and speed.

[0028] A robot calibration method based on particle swarm optimization, such as figure 1 As shown, the method includes the following steps:

[0029] S10: Establish a fitness function;

[0030] Such as figure 2 As shown, the fitness function is established. The fitness function is the final evaluation function of the particle swarm algorithm, which determines the optimization process and optimization direction of the particle swarm algorithm. According to the fitness value of each individual in each generation, the individual’s The degree of pros and cons, for the six degrees of freedom laser measuring instrument used, the position and attitude of the target are obtained at the same time, so as to obtain the end pose error, the fitness funct...

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Abstract

A robot calibrate method based on particle swarm optimization comprises the following steps: setting up a fitness function; using particle swarm algorithm to optimize outer parameters; using fitness function and outer parameters to optimize a given particle swarm; specifically: initializing the given particle swarm; determining an initial optimal adaptation value, initializing an individual optimal position (yk1), and initializing a colony optimal position (y1); updating a position (xk1) and a speed (vk1) of each particle each time an iteration frequency is added by 1, and recalculating an adaptation value of each particle according to the updated xk1 and vk1; comparing the adaptation value of each particle with the initial optimal adaptation value, is the updated value is better, then updating the individual optimal position yk1, otherwise the original value is kept; comparing the updated individual optimal position yk1 of each particle with the initial colony optimal position (y1), if better, than updating the yk1, otherwise keeping the original value; determining whether a maximum iteration frequency is reached or not or a colony optimal position y1 change is smaller than a set value or not, and if yes, then stopping the iteration, thus obtaining the individual optimal position yk1 and the colony optimal position (y1).

Description

technical field [0001] The invention relates to a calibration method, in particular to a robot calibration method based on particle swarm optimization. Background technique [0002] Industrial robot is an indispensable tool in modern industrial production line, it marks the degree of modernization of industry. Due to the expansion of robot application scope and the increasing complexity of completed tasks, the programming of robot tasks has become an important issue. The offline programming system can simplify the robot programming process and improve programming efficiency. It is a necessary software support system for system integration. Kinematics calibration is one of the key technologies for the practical application of robot offline programming technology, and it is also an important content of robotics. It has very important theoretical and practical significance in the context of robot industrialization. Robot kinematics calibration is based on kinematics modeling, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/20
CPCG05B13/041
Inventor 徐方曲道奎李邦宇邹风山冯亚磊张涛
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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