Chapter . Robot kinematic calibration using Genetic Algorithms

Kesheng Wang[*] and Jonathan Lienhardt

Knowledge Discovery Laboratory Department of Production and Quality Engineering, Norwegian University of Science and Technology, N-7491 Trondheim, Norway


Position and orientation accuracy of the end effector is affected by the precision of kinematic parameters of the robot manipulator. Thus good precision requires good knowledge of robot physical parameter values. However this condition can be difficult to meet in practice. Hence calibration techniques can be devised in order to improve the robot accuracy through estimation of these particular parameters. In this paper, the Genetic Algorithm is used to calibrate the robot kinematic accuracy. ...

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