NDLI: Enhancing pose accuracy of space robot by improved differential evolution

Content Provider	Springer Nature Link
Author	Liu, Yu Ni, Feng lei Liu, Hong Xu, Wen fu
Copyright Year	2012
Abstract	Due to the intense vibration during launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose (including position and orientation) of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution (DE) algorithm. A six-degree of freedom (6-DOF) robot is used as a practical simulation example, and the simulation results show: 1) A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2) Search efficiency is increased by improved DE; 3) More calibration configurations may make calibration results better.
Starting Page	933
Ending Page	943
Page Count	11
File Format	PDF
ISSN	20952899
Journal	Journal of Central South University of Technology
Volume Number	19
Issue Number	4
e-ISSN	22275223
Language	English
Publisher	Central South University
Publisher Date	2012-03-29
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	space robot self-calibration laser ranger pose accuracy improved differential evolution Metallic Materials Engineering
Content Type	Text
Resource Type	Article
Subject	Metals and Alloys Engineering

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