Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm

Most of the currently available three-degree-of-freedom manipulators are light load and cannot achieve full continuous rotation; given this, we designed a heavy-load manipulator that achieves unrestricted and continuous rotation. Due to manufacturing and assembly errors, parameter deviations between...

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Vydané v:	Robotica Ročník 42; číslo 3; s. 728 - 756
Hlavní autori:	Wang, Xinpei, Xie, Lingbo, Jiang, Mian, He, Kuanfang, Chen, Yong
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Cambridge, UK Cambridge University Press 01.03.2024
Predmet:	Accuracy Algorithms Ant colony optimization Calibration Closed loops Control methods Design Error analysis Feedforward control Kinematics Lasers Load Manipulators Mathematical models Motion control Parameter sensitivity Robot arms Robots Rotation Systematic errors Trajectory analysis global sensitivity joint driving errors rounding error kinematics calibration feedforward control
ISSN:	0263-5747, 1469-8668
On-line prístup:	Získať plný text
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