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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Bibliographic Details
Published in:	Robotica Vol. 42; no. 3; pp. 728 - 756
Main Authors:	Wang, Xinpei, Xie, Lingbo, Jiang, Mian, He, Kuanfang, Chen, Yong
Format:	Journal Article
Language:	English
Published:	Cambridge, UK Cambridge University Press 01.03.2024
Subjects:	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
Online Access:	Get full text
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