Study Findings from Chinese Academy of Sciences Broaden Understanding of Robotic s (Tool Center Point Calibration Via Posturesequence Particle Swarm Optimizatio n)
Study Findings from Chinese Academy of Sciences Broaden Understanding of Robotic s (Tool Center Point Calibration Via Posturesequence Particle Swarm Optimizatio n)
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Current study results on Robotics have been published. According to news reporting from Shenyang, People's Republic of China, by NewsRx journalists, research stated, "Robots' manipulation accuracy i s heavily determined by the calibration accuracy of the tool center point (TCP). This article proposes posture-sequence particle swarm optimization (PS2O) for T CP calibration." Financial support for this research came from China Postdoctoral Science Foundat ion. The news correspondents obtained a quote from the research from the Chinese Acad emy of Sciences, "First, the mechanism of the condition number and the minimum e igenvalue of the regression matrix on the calibration accuracy are analyzed. Sec ond, a multiobjective optimization problem is constructed based on the condition number, the minimum eigenvalue, and the sum of adjacent posture distances. Fina lly, an optimized posture sequence is obtained by applying the particle swarm op timization (PSO) algorithm to the constructed multiobjective optimization proble m. Simulations and experiments demonstrate that the error of TCP calibration can be characterized by the condition number and the minimum eigenvalue of the regr ession matrix. Compared with random posture sampling, the optimized posture sequ ence for sampling reduces the norm of the calibration error by 38.66% ."
Key words
Shenyang/People's Republic of China/As ia/Emerging Technologies/Machine Learning/Nano-robot/Particle Swarm Optimiza tion/Robotics/Chinese Academy of Sciences
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