A Novel Quadratic Interpolated Beetle Antennae Search for Manipulator Calibration

04/13/2022
by   Zhibin Li, et al.
0

Over the past decades, industrial manipulators play a vital role in in various fields, like aircraft manufacturing and automobile manufacturing. However, an industrial manipulator without calibration suffers from its low absolute positioning accuracy, which extensively restricts its application in high-precision intelligent manufacture. Recent manipulator calibration methods are developed to address this issue, while they frequently encounter long-tail convergence and low calibration accuracy. To address this thorny issue, this work proposes a novel manipulator calibration method incorporating an extended Kalman filter with a Quadratic Interpolated Beetle Antennae Search algorithm. This paper has three-fold ideas: a) proposing a new Quadratic Interpolated Beetle Antennae Search algorithm to deal with the issue of local optimum and low convergence rate in a Beetle Antennae Search algorithm; b) adopting an extended Kalman filter algorithm to suppress non-Gaussian noises and c) developing a new manipulator calibration method incorporating an extended Kalman filter with a Quadratic Interpolated Beetle Antennae Search algorithm to calibrating a manipulator. Extensively experimental results on an ABB IRB120 industrial manipulator demonstrate that the proposed method achieves much higher calibration accuracy than several state-of-the-art calibration methods.

READ FULL TEXT
research
04/13/2022

A New Robot Arm Calibration Method Based on Cubic Interpolated Beetle Antennae Search Approach

Industrial robot arms are extensively important for intelligent manufact...
research
08/01/2022

A New Calibration Method for Industrial Robot Based on Step-Size Levenberg-Marquardt Algorithm

Industrial robots play a vital role in automatic production, which have ...
research
04/23/2023

Using Alternation Direction Method of Multipliers to Enhance robots Calibration Accuracy based on Multi-Planal Constraints

With the widespread application of industrial robots, the problem of abs...
research
04/13/2022

An Advancing Ensemble with Diversified Algorithms for Robot Arm Calibration

Recently, industrial robots plays a significant role in intelligent manu...
research
08/04/2022

A novel robot calibration method with plane constraint based on dial indicator

In pace with the electronic technology development and the production te...
research
04/25/2021

Motion based Extrinsic Calibration of a 3D Lidar and an IMU

This work presents a novel extrinsic calibration estimation algorithm be...
research
05/29/2020

An Observer Design for Visual Simultaneous Localisation and Mapping with Output Equivariance

Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling t...

Please sign up or login with your details

Forgot password? Click here to reset