Positioning accuracy improvement of industrial robots based on modified differential evolution algorithm

Yizhou Jiang; Liandong Yu; Haopeng Huang; Song Pu

doi:10.1117/12.2612114

19 November 2021 Positioning accuracy improvement of industrial robots based on modified differential evolution algorithm

Yizhou Jiang, Liandong Yu, Haopeng Huang, Song Pu

Author Affiliations +

Proceedings Volume 12059, Tenth International Symposium on Precision Mechanical Measurements; 1205918 (2021) https://doi.org/10.1117/12.2612114
Event: Tenth International Symposium on Precision Mechanical Measurements, 2021, Qingdao, China

Abstract

For improving the positioning accuracy of the robot, the kinematic parameters need to be calibrated. A modified differential evolution algorithm is proposed to identify the kinematic parameters in this paper. The control parameters of differential evolution algorithm are adjusted adaptively for a better convergence. Herein, the kinematic model is established based on the product of exponentials formula. To verify the efficiency of the proposed algorithm, experiments are performed using a six-degree-of-freedom robot and laser tracker. The maximum positioning error is reduced from 6.094mm to 0.4935mm and the average positioning error is reduced from 3.076mm to 0.08911mm by using the proposed algorithm.

Citation Download Citation

Yizhou Jiang, Liandong Yu, Haopeng Huang, and Song Pu "Positioning accuracy improvement of industrial robots based on modified differential evolution algorithm", Proc. SPIE 12059, Tenth International Symposium on Precision Mechanical Measurements, 1205918 (19 November 2021); https://doi.org/10.1117/12.2612114

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